WO2018011999A1 - Work vehicle, remote diagnostic system, and remote diagnostic method - Google Patents

Work vehicle, remote diagnostic system, and remote diagnostic method Download PDF

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Publication number
WO2018011999A1
WO2018011999A1 PCT/JP2016/071089 JP2016071089W WO2018011999A1 WO 2018011999 A1 WO2018011999 A1 WO 2018011999A1 JP 2016071089 W JP2016071089 W JP 2016071089W WO 2018011999 A1 WO2018011999 A1 WO 2018011999A1
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WO
WIPO (PCT)
Prior art keywords
client
data
screen data
work vehicle
dump truck
Prior art date
Application number
PCT/JP2016/071089
Other languages
French (fr)
Japanese (ja)
Inventor
雄一 小田
孝輔 栗波
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to PCT/JP2016/071089 priority Critical patent/WO2018011999A1/en
Priority to CN201680001071.0A priority patent/CN106464740B/en
Priority to JP2016548322A priority patent/JP6373393B2/en
Priority to CA2957649A priority patent/CA2957649A1/en
Priority to US15/504,744 priority patent/US10777027B2/en
Publication of WO2018011999A1 publication Critical patent/WO2018011999A1/en

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0808—Diagnosing performance data
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
    • G07C5/0825—Indicating performance data, e.g. occurrence of a malfunction using optical means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Definitions

  • the present invention relates to a work vehicle, a remote diagnosis system, and a remote diagnosis method.
  • a technology for confirming the operating status of work vehicles in remote locations is known.
  • an acquisition device capable of acquiring operation status data of a work vehicle for example, a device such as a camera or a sensor is provided in the work vehicle, and the operation status data acquired by the acquisition device is transmitted to a remote place by a wireless communication device It has been known.
  • a wireless communication device It has been known.
  • failure diagnosis of the work vehicle, failure prediction of the work vehicle, maintenance plan of the work vehicle, and the like are performed.
  • the operating status data acquired by the acquisition device becomes large, communication delays and communication interruptions may occur when it is transmitted to a remote location by the wireless communication device.
  • a large number of sensors or various types of sensors are attached to the work vehicle, and accordingly, the data detected by the sensors has a large capacity.
  • the data output from the sensor needs to have a sampling period as short as possible, and is also detected from the sensor. Large amount of data. As described above, when there are many types and numbers of sensors and the sampling period of data output from the sensors is short, and when communication delay and communication interruption occur due to these, operation of the work vehicle in a remote place It becomes difficult to check the situation in real time.
  • aspects of the present invention provide a work vehicle, a remote diagnosis system, and a remote diagnosis method that can smoothly check the operation status of the work vehicle when the work vehicle operates in a remote place without impairing real-time performance.
  • the purpose is to do.
  • an acquisition device that acquires operating status data, and a client screen data generating unit that generates client screen data that can be displayed by a client display device of a client device based on the operating status data; And a wireless communication device that transmits the client screen data to the client device.
  • a client screen data acquisition unit that acquires client screen data generated based on operation status data of a work vehicle from a server device of the work vehicle via a communication line, and the client
  • a remote diagnosis system including a display control unit that displays screen data on a client display device of a client device.
  • the operation status data of the work vehicle is acquired, the client screen data is generated based on the operation status data, and the server device of the work vehicle via a communication line. Transmitting the client screen data to the client device, and displaying the client screen data on a client display device of the client device.
  • a work vehicle capable of smoothly confirming an operation state of the work vehicle when the work vehicle is operated in a remote place without impairing real-time performance. Is done.
  • FIG. 1 is a diagram schematically illustrating an example of a remote diagnosis system according to the first embodiment.
  • FIG. 2 is a side view schematically showing an example of the work vehicle according to the first embodiment.
  • FIG. 3 is a plan view schematically showing an example of the work vehicle according to the first embodiment.
  • FIG. 4 is a diagram schematically illustrating an example of a cab of the work vehicle according to the first embodiment.
  • FIG. 5 is a functional block diagram illustrating an example of a remote diagnosis system according to the first embodiment.
  • FIG. 6 is a flowchart illustrating an example of the remote diagnosis method according to the first embodiment.
  • FIG. 7 is a diagram illustrating an example of client screen data displayed on the client display device according to the first embodiment.
  • FIG. 8 is a functional block diagram illustrating an example of a remote diagnosis system according to the second embodiment.
  • FIG. 9 is a diagram schematically illustrating an example of a remote diagnosis system according to the third embodiment.
  • FIG. 10 is a side view schematically showing an example of the work vehicle according to the fourth embodiment.
  • FIG. 1 is a diagram schematically illustrating an example of a remote diagnosis system 1A according to the present embodiment.
  • the remote diagnosis system 1 ⁇ / b> A includes a client device 100 for confirming the operation status of the work vehicle 2 at a remote location.
  • the client device 100 is installed in the management facility 3.
  • the remote work vehicle 2 refers to the work vehicle 2 operating at a location away from the management facility 3, and the distance between the management facility 3 and the work vehicle 2 is not limited. Therefore, the remote place includes a case where the work vehicle 2 can be visually recognized from the management facility 3 and a case where the work vehicle 2 cannot be visually recognized.
  • the client device 100 can communicate with the server device 200 mounted on the work vehicle 2 via the antenna 4 and the communication line 5.
  • the antenna 4 is a portable antenna and functions as a radio communication relay station.
  • the communication line 5 includes a wireless LAN (Local Area Network).
  • the communication line 5 may include at least one of a mobile phone network and the Internet.
  • the client device 100 includes a computer system such as a personal computer.
  • the client device 100 includes a client data processing device 110, a client display device 120, and a client input device 130.
  • the client data processing device 110 includes a processor such as a CPU (Central Processing Unit), a non-volatile memory such as a ROM (Read Only Memory) or a storage device including a volatile memory such as a RAM (Random Access Memory), and an input. It has an output interface device.
  • the client display device 120 includes a flat panel display such as a liquid crystal display (LCD) or an organic EL display (OELD).
  • the client input device 130 includes at least one of a computer keyboard, a mouse, and a touch sensor provided on the display screen of the client display device 120.
  • the server device 200 includes a computer system such as a personal computer.
  • the server device 200 includes a server data processing device 210, a server display device 220, and a server input device 230.
  • the server data processing device 210 includes a processor such as a CPU, a non-volatile memory such as a ROM, a storage device including a volatile memory such as a RAM, and an input / output interface device.
  • the server display device 220 includes a flat panel display such as a liquid crystal display or an organic EL display.
  • the server input device 230 includes at least one of a computer keyboard, a mouse, and a touch sensor provided on the display screen of the server display device 220.
  • the server data processing device 210, the server display device 220, and the server input device 230 may be integrated or separate.
  • the server device 200 may not include the server display device 220.
  • the client device 100 can remotely access the server device 200 via the antenna 4 and the communication line 5.
  • Remote access refers to a technique for connecting to a server device 200 at a remote location via a network and using data held by the server device 200 at the connection destination from a remote location.
  • screen data substantially the same as the screen data displayed on the display screen of the server display device 220 of the server device 200 is displayed.
  • the administrator can remotely operate the server device 200 by operating the client input device 130 of the client device 100.
  • the absolute position of the work vehicle 2 is detected using GNSS (Global Navigation Satellite System).
  • GNSS Global Navigation Satellite System
  • the GNSS refers to the global navigation satellite system.
  • GPS Global Positioning System
  • the GNSS has a plurality of positioning satellites.
  • the GNSS detects a position defined by latitude, longitude, and altitude coordinate data.
  • the position detected by GNSS is an absolute position defined in the global coordinate system.
  • the absolute position of the work vehicle 2 is detected by GNSS.
  • FIG. 2 is a side view schematically showing an example of the work vehicle 2 according to the present embodiment.
  • FIG. 3 is a plan view schematically showing an example of the work vehicle 2 according to the present embodiment.
  • the work vehicle 2 is a dump truck that is a kind of transport vehicle.
  • the work vehicle 2 is appropriately referred to as a dump truck 2.
  • the dump truck 2 is a manned dump truck that travels by an operation of a driver who has boarded the dump truck 2.
  • the dump truck 2 includes a traveling device 21, a vehicle main body 22 supported by the traveling device 21, a vessel 23 supported by the vehicle main body 22, a drive device 24 that drives the traveling device 21, a control device 25, a dump truck A position calculator 31 that calculates the absolute position of the truck 2, a wireless communication device 32, a server device 200, and an acquisition device 300 that acquires operation status data of the dump truck 2 are provided.
  • the traveling device 21 includes a wheel, a brake device, and a steering device.
  • the traveling device 21 is operated by the driving force generated by the driving device 24.
  • the driving device 24 generates a driving force for accelerating the dump truck 2.
  • the driving device 24 drives the traveling device 21 by, for example, an electric driving method.
  • the drive device 24 includes an internal combustion engine such as a diesel engine, a generator that is operated by power of the internal combustion engine, and an electric motor that is operated by electric power generated by the generator and rotates wheels.
  • the vehicle main body 22 is provided with a cab 26 in which the driver of the dump truck 2 is boarded.
  • the cab 26 is provided with a steering wheel for operating the steering device, an accelerator pedal for adjusting the output of the driving device 24, a brake pedal for operating the brake device, and the like.
  • the position calculator 31 includes a GPS receiver and calculates the absolute position of the dump truck 2.
  • the position calculator 31 has a GPS antenna 31A.
  • the antenna 31A receives radio waves from the positioning satellite.
  • the position calculator 31 converts the radio signal from the positioning satellite received by the antenna 31A into an electric signal, and calculates the absolute position of the antenna 31A.
  • the absolute position of the dump truck 2 is calculated by calculating the absolute position of the antenna 31A.
  • the wireless communication device 32 has an antenna 32A.
  • the wireless communication device 32 can wirelessly communicate with the client device 100.
  • the acquisition device 300 acquires operation status data indicating the operation status of the dump truck 2.
  • the acquisition device 300 includes a camera 310 that acquires image data and a state quantity sensor 320 that detects the state of the dump truck 2.
  • the acquisition device 300 may include a position calculator 31 that calculates the absolute position of the dump truck 2.
  • the camera 310 acquires at least one of the image data around the dump truck 2 and the image data in the cab 26 of the dump truck 2 as the operation status data of the dump truck 2.
  • the camera 310 acquires at least image data in front of the dump truck 2.
  • the first camera 310A is provided at the center of the front portion of the vehicle main body 22, and the second camera 310B is provided at the left portion of the front portion of the vehicle main body 22.
  • 310C is provided in the right part of the front part of the vehicle main body 22. The cameras 310A, 310B, and 310C acquire image data in front of the dump truck 2.
  • the fourth camera 310D is provided on the left side of the vehicle body 22, and the fifth camera 310E is provided on the right side of the vehicle body 22.
  • the cameras 310D and 310E acquire the image data of the side and rear of the dump truck 2.
  • FIG. 4 is a diagram schematically illustrating an example of the cab 26 of the dump truck 2 according to the present embodiment.
  • a steering wheel 27 is provided in the cab 26.
  • the sixth camera 310F is provided in the cab 26.
  • the camera 310 ⁇ / b> F is installed on the dashboard 28, for example, and acquires image data of the cab 26 that is inside the dump truck 2.
  • the camera 310F acquires image data of a driver who is in the cab 26.
  • a monitor device 312 on which image data acquired by the camera 310 is displayed is arranged in the cab 26.
  • the monitor device 312 includes a first monitor device 312A that displays image data acquired by the first camera 310A, a second monitor device 312B that displays image data acquired by the second camera 310B, and a third monitor device.
  • the third monitor device 312C for displaying the image data acquired by the camera 310C
  • the fourth monitor device 312D for displaying the image data acquired by the fourth camera 310D
  • a sixth monitor device 312F for displaying image data acquired by the sixth camera 310F.
  • the camera 310 has a video camera function capable of acquiring moving image data.
  • the monitor device 312 displays the moving image data acquired by the camera 310 in real time.
  • the image data includes moving image data and still image data.
  • the camera 310 may change not only the image data around the dump truck 2 and the image data in the cab 26 of the dump truck 2 but also the installation position of the camera 310 as appropriate. For example, at least a part of the image data of the traveling device 21 may be acquired, or at least a part of the image data of the vehicle main body 22 may be acquired.
  • the number of cameras 310 is not limited to six and may be any number.
  • the state quantity sensor 320 detects state quantity data indicating the state of the dump truck 2 as the operation status data of the dump truck 2.
  • the state quantity sensor 320 includes, for example, an engine speed sensor 320 ⁇ / b> A that detects the speed per unit time of the diesel engine that is the driving device 24, and the temperature of the cooling water of the diesel engine.
  • An engine temperature sensor 320B that detects the vehicle speed
  • a speed sensor 320C that detects the traveling speed of the traveling device 21, and a vibration sensor 320D that detects acceleration indicating vibration generated in the dump truck 2.
  • the state quantity of the dump truck 2 detected by the state quantity sensor 320 is limited to the rotational speed per unit time of the diesel engine, the temperature of the diesel engine, the traveling speed of the traveling device 21, and the vibration generated in the dump truck 2. Not.
  • the state quantity of the dump truck 2 detected by the state quantity sensor 320 may include at least one of the hydraulic pressure of the hydraulic circuit of the dump truck 2, the stress acting on the dump truck 2, and the acceleration of the traveling device 21, for example. .
  • the acquisition device 300 may include a sound collection device.
  • a sound collecting device such as a microphone may be provided in the cab 26 to collect a driver's voice or a warning sound emitted from a warning device (not shown). Further, for example, a sound collecting device may be provided in the vicinity of the driving device 24 to collect driving sound emitted by a diesel engine or the like. That is, the operating status data may include voice data.
  • FIG. 5 is a functional block diagram showing an example of the remote diagnosis system 1A according to the present embodiment.
  • the remote diagnosis system 1 ⁇ / b> A includes a client device 100, a server device 200 that can communicate with the client device 100 via the antenna 4 and the communication line 5, and a position calculation that calculates the absolute position of the dump truck 2.
  • the server device 200 includes a server data processing device 210, a server display device 220, and a server input device 230.
  • the client device 100 includes a client data processing device 110, a client display device 120, and a client input device 130.
  • the server data processing device 210 includes a client screen data generation unit 211 that generates client screen data that can be displayed by the client display device 120 of the client device 100 based on the operation status data acquired by the acquisition device 300. Details of the client screen data will be described later.
  • the server data processing device 210 further includes an authentication data acquisition unit 212 that acquires authentication data of the client device 100 from the client device 100, and an input data acquisition unit that acquires input data generated by the client input device 130 from the client device 100. 213, based on the operation status data acquired by the acquisition device 300, a server screen data generation unit 214 that generates server screen data that can be displayed by the server display device 220, and causes the server display device 220 to display the server screen data.
  • the display control unit 215 includes an input data acquisition unit 216 that acquires input data generated by the server input device 230, and an input / output unit 217. As described above, when the server display device 220 is not provided, the server data processing device 210 may not include the server screen data generation unit 214 and the display control unit 215.
  • the client data processing device 110 includes a client screen data acquisition unit 111 that acquires the client screen data generated by the client screen data generation unit 211 from the server device 200, and a display control unit 112 that displays the client screen data on the client display device 120.
  • An input data acquisition unit 113 that acquires input data generated by the client input device 130, and an input / output unit 114.
  • the client screen data generation unit 211 generates client screen data based on the operation status data acquired by the acquisition device 300.
  • the operation status data includes image data acquired by the camera 310 and state quantity data acquired by the state quantity sensor 320.
  • the client screen data is screen data that can be displayed by the client display device 120.
  • the state quantity data acquired by the state quantity sensor 320 includes a waveform image based on the state quantity data acquired by the state quantity sensor 320.
  • client screen data displayed on the client display device 120 includes image data acquired by the camera 310, state quantity data acquired by the state quantity sensor 320, map data indicating an area where the dump truck 2 travels, and position Position data indicating the absolute position of the dump truck 2 acquired by the calculator 31 is included. Details of the map data and position data will be described later.
  • the client screen data displayed on the client display device 120 may be composed of only a waveform image based on the state quantity data acquired by the state quantity sensor 320.
  • the client screen data displayed on the client display device 120 includes a waveform image based on the state quantity data acquired by the state quantity sensor 320 and position data indicating the absolute position of the dump truck 2 acquired by the position calculator 31. And may be configured.
  • the client screen data generation unit 211 generates client screen data based on the unique data of the client display device 120.
  • the unique data of the client display device 120 is transmitted from the client device 100 to the server device 200 via the communication line 5 and the antenna 4.
  • the client screen data generation unit 211 acquires unique data of the client display device 120 via the wireless communication device 32 and the input / output unit 217.
  • the unique data of the client display device 120 includes display format data indicating a display format that the client display device 120 can display.
  • the display format data of the client display device 120 includes at least one of the screen size, resolution, and number of colors of the client display device 120.
  • the authentication data acquisition unit 212 acquires authentication data of the client device 100 from the client device 100.
  • the authentication data includes, for example, a password input by the client input device 130.
  • the authentication data acquisition unit 212 determines whether access authority is granted to the client device 100 based on the authentication data supplied from the client device 100. When receiving an access request from the client device 100, the authentication data acquisition unit 212 determines whether to permit access based on the authentication data.
  • the authentication data of the client device 100 is transmitted from the client device 100 to the server device 200 via the communication line 5 and the antenna 4.
  • the authentication data acquisition unit 212 acquires authentication data of the client device 100 via the wireless communication device 32 and the input / output unit 217.
  • the wireless communication device 32 transmits the client screen data generated by the client screen data generation unit 211 to the client device 100 based on the authentication data.
  • the client screen data is transmitted to the client device 100 permitted to access in the authentication data acquisition unit 212.
  • Client screen data is not transmitted to the client device 100 that is not permitted to access in the authentication data acquisition unit 212.
  • the client screen data transmitted to the client device 100 includes image data acquired by the camera 310 and state quantity data acquired by the state quantity sensor 320.
  • the wireless communication device 32 may transmit the raw data of the state quantity data, audio data and position data described later to the client device 100 together with the client screen data.
  • the wireless communication device 32 may transmit only the waveform image based on the state quantity data acquired by the state quantity sensor 320 among the client screen data to the client device 100 as client screen data.
  • the input data acquisition unit 213 receives input data generated by the client input device 130 of the client device 100.
  • the input data includes control data for editing or controlling client screen data.
  • the input data includes operation data for remotely operating the server device 200.
  • Input data generated by operating the client input device 130 is transmitted from the client device 100 to the server device 200 via the communication line 5 and the antenna 4.
  • the wireless communication device 32 receives input data generated by the client input device 130 of the client device 100.
  • the input data acquisition unit 213 acquires input data generated by the client input device 130 via the wireless communication device 32 and the input / output unit 217.
  • the client device 100 can remotely access the server device 200 via the antenna 4 and the communication line 5.
  • the administrator can remotely operate the server device 200 by operating the client input device 130 of the client device 100.
  • the client screen data generation unit 211 edits client screen data based on the input data generated by the client input device 130. That is, the administrator can remotely access the server device 200 and edit client screen data to be displayed on the client display device 120.
  • the server screen data generation unit 214 generates server screen data based on the operation status data acquired by the acquisition device 300.
  • the server screen data is screen data that can be displayed by the server display device 220.
  • the server screen data generation unit 214 generates server screen data based on the unique data of the server display device 220.
  • the unique data of the server display device 220 includes display format data indicating a display format that the server display device 220 can display.
  • the display format data of the server display device 220 includes at least one of the screen size, resolution, and number of colors of the server display device 220.
  • the client screen data displayed on the client display device 120 and the server screen data displayed on the server display device 220 are substantially the same.
  • the display control unit 215 controls the server display device 220 to display the server screen data generated by the server screen data generation unit 214 on the server display device 220.
  • the client screen data acquisition unit 111 acquires the client screen data generated by the client screen data generation unit 211 from the server device 200 of the dump truck 2 via the antenna 4 and the communication line 5.
  • the client screen data acquisition unit 111 may acquire position data indicating the absolute position of the dump truck 2 acquired by the position calculator 31 from the server device 200 via the antenna 4 and the communication line 5.
  • the acquisition device 300 includes a sound collection device
  • the audio data acquired by the sound collection device from the wireless communication device 32 via the antenna 4 and the communication line 5 is not shown in the voice output device of the client data processing device 100. May be obtained and sound based on the sound data may be output.
  • the display control unit 112 controls the client display device 120 to display the client screen data generated by the client screen data generation unit 211 on the client display device 120.
  • FIG. 6 is a flowchart illustrating an example of the remote diagnosis method for the dump truck 2 according to the present embodiment.
  • the operation status data of the dump truck 2 is acquired by the acquisition device 300 (step S10).
  • the acquisition device 300 monitors the operation status data during a specified monitoring period.
  • the monitoring period includes an operation period during which the dump truck 2 is operating.
  • the operation period of the dump truck 2 includes an operation period in which the drive device 24 of the dump truck 2 is operating.
  • the operation period of the dump truck 2 includes a traveling period in which the driving device 24 is operated and the traveling device 21 is traveling.
  • the operation period of the dump truck 2 may be a period in which the driving device 24 is operating and the traveling device 21 is stopped.
  • the operation status data of the dump truck 2 includes at least one of image data around the dump truck 2 and image data in the vehicle of the dump truck 2 acquired by the camera 310 provided in the dump truck 2.
  • the operation status data of the dump truck 2 includes state quantity data of the dump truck 2 detected by a state quantity sensor 320 provided in the dump truck 2.
  • the operation status data acquired by the acquisition device 300 including the camera 310 and the state quantity sensor 320 is output to the server device 200.
  • the acquisition device 300 continues to output the operation status data to the server device 200 at a specified sampling period during the monitoring period.
  • the sampling period of the operation status data output from the acquisition device 300 to the server device 200 is, for example, not less than 0.1 [seconds] and not more than 1.0 [seconds].
  • the operation status data is time series data acquired in the monitoring period.
  • the server screen data generation unit 214 generates server screen data based on the operation status data. Further, the client screen data generation unit 211 generates client screen data based on the operation status data (step S20).
  • the server screen data generation unit 214 generates server screen data in real time from the operation status data acquired by the acquisition device 300.
  • the client screen data generation unit 211 generates client screen data in real time from the operation status data acquired by the acquisition device 300.
  • the server screen data and the client screen data include moving image data.
  • the server device 200 is requested to access from the client device 100.
  • the client device 100 transmits authentication data to the server device 200.
  • the authentication data acquisition unit 212 acquires authentication data (step S30).
  • the authentication data acquisition unit 212 determines whether to permit access to the client device 100 based on the authentication data (step S40).
  • step S40 When it is determined in step S40 that access is not permitted (step S40: No), the client screen data is not transmitted to the client device 100, and the process ends.
  • step S40 When it is determined in step S40 that access is permitted (step S40: Yes), the wireless communication device 32 transmits client screen data from the server device 200 of the dump truck 2 to the client device 100 via the antenna 4 and the communication line 5. Transmit (step S50).
  • the wireless communication device 32 sequentially transmits the client screen data generated by the client screen data generation unit 211 to the client device 100 at a specified sampling period.
  • the sampling period of the client screen data transmitted from the server device 200 to the client device 100 is, for example, not less than 0.1 [seconds] and not more than 10.0 [seconds].
  • the client screen data includes a waveform image based on the state quantity data acquired by the state quantity sensor 320 and the image data acquired by the camera 310, they are synchronized from the wireless communication device 32 to the antenna 4 and The data is transmitted to the client device 100 via the communication line 5. That is, the fluctuation of the physical quantity indicated in the waveform image and the situation indicated by the image acquired by the camera 310 are transmitted to the client device 100 in synchronization, and both are displayed on the display screen of the client display device 120 as synchronized information.
  • the sampling period of the client screen data transmitted from the server device 200 to the client device 100 is, for example, not less than 0.1 [seconds] and not more than 10.0 [seconds].
  • the client screen data acquisition unit 111 of the client device 100 acquires client screen data from the server device 200.
  • the display control unit 112 displays the client screen data on the client display device 120 of the client device 100 (step S60).
  • the display control unit 112 causes the client display device 120 to display the client screen data transmitted from the server device 200 in real time.
  • the client screen data displayed on the client display device 120 includes moving image data.
  • FIG. 7 is a diagram illustrating an example of client screen data displayed on the display screen of the client display device 120 according to the present embodiment.
  • icons for setting the six cameras 310 or editing image data acquired by the six cameras 310 are displayed.
  • the client screen data displayed on the client display device 120 is only waveform data of state quantities based on the state quantity data acquired by each of the plurality of state quantity sensors 320 displayed in the third area 403. Also good.
  • image data acquired by each of the six cameras 310 is displayed in the second area 402 of the display screen of the client display device 120.
  • “Cam1” indicates the image data acquired by the first camera 310A
  • “Cam2” indicates the image data acquired by the second camera 310B
  • “Cam3” indicates the image data acquired by the third camera 310C
  • “Cam4” indicates the image data acquired by the fourth camera 310D
  • “Cam5” indicates the image data acquired by the fifth camera 310E
  • “Cam6” indicates the sixth image data.
  • the camera 310 has a video camera function capable of acquiring moving image data.
  • the client screen data includes moving image data acquired by the camera 310.
  • the client display device 120 displays the moving image data acquired by the camera 310 in real time.
  • the state quantity data acquired by each of the plurality of state quantity sensors 320 is displayed.
  • the state quantity data acquired by the state quantity sensor 320 is displayed on the client display device 120 as waveform data.
  • the horizontal axis of the graph is time, and the vertical axis is the state quantity.
  • the state quantity of the dump truck 2 acquired by the state quantity sensor 320 during the monitoring period changes from moment to moment.
  • the state quantity data collection device 340 has a log function for recording and accumulating state quantity data detected by the state quantity sensor 320 in time series.
  • the client screen data includes moving image data indicating state quantities that are obtained from the state quantity sensor 320 and that change every moment. On the client display device 120, the moving image data indicating the state quantity that changes every moment acquired by the state quantity sensor 320 is displayed in real time. In the example shown in FIG. 7, the waveform image based on the operation status data is moving image data.
  • the fourth area 404 of the display screen of the client display device 120 includes map data indicating the area where the dump truck 2 travels and position data indicating the absolute position of the dump truck 2 acquired by the position calculator 31. Is displayed.
  • the map data is graphic data or photo data stored in the storage unit of the client data processing apparatus 100 in advance.
  • the map data can be created based on photograph data such as aerial photographs and satellite photographs or drawing data created by CAD or the like.
  • the position data of the dump truck 2 acquired by the position calculator 310 changes every moment.
  • the position data is sequentially acquired as the dump truck 2 moves, and the display control unit 110 displays the dump truck on the map data displayed on the display screen of the client display device 120 based on the position data.
  • the client screen data includes moving image data indicating the position of the dump truck 2 that is obtained from the position calculator 31 and that changes every moment. As shown in a fourth area 404 in FIG. 7, the client display device 120 displays moving image data indicating the position of the dump truck 2 that is obtained from the position calculator 31 and that changes every moment in real time.
  • the client data processing apparatus 100 acquires state quantity data from the wireless communication apparatus 32 of the server apparatus 200 via the antenna 4 and the communication line 5 separately from the client screen data. Can be displayed in red, for example, and the travel locus traveled with a low engine speed can be displayed in green.
  • an administrator who can operate the client device 100 can remotely access the server device 200.
  • the administrator remotely operates the client screen data generation unit 211 of the server device 200 by operating, for example, an icon displayed on the client display device 120 via the client input device 130.
  • the displayed client screen data can be edited.
  • the administrator can control the moving image data of the camera 310 to be displayed on the client display device 120 by operating the icon in the first area 401, for example.
  • the moving image data of the camera 310A can be paused or the displayed moving image data can be switched.
  • input data generated by the operation is transmitted to the server device 200 via the communication line 5.
  • the client screen data generation unit 211 of the server device 200 controls the client screen data based on the input data supplied from the client device 100.
  • the controlled client screen data is transmitted to the client device 100 via the communication line 5.
  • the client display device 120 can display the client screen data reflecting the intention of the administrator.
  • an icon for changing the scale (map scale) of the map data is displayed.
  • the administrator can change the scale of the map data by operating the icon via the client input device 130.
  • the operation status data of the dump truck 2 is acquired, and the client screen data that can be displayed by the client display device 120 of the client device 100 based on the operation status data is the server device 200.
  • the client screen data generated by the server device 200 is wirelessly transmitted to the client device 100.
  • the data capacity (hereinafter referred to as capacity) of the client screen data is smaller than, for example, the capacity of the image data acquired by the camera 310 and the capacity of the state quantity data acquired by the state quantity sensor 320. That is, the capacity of the operation status data (raw data) acquired by the acquisition device 300 is large, and the capacity of the client screen data generated by the client screen data generation unit 211 is small.
  • the capacity of the operation status data (raw data) acquired by the state quantity sensor 320 is large, and client screen data generated based on the raw data (moving image data as shown in the third area 403 in FIG. 7).
  • the capacity of the waveform image based on the state quantity data is small. If operating state data having a large capacity is transmitted from the server device 200 to the client device 100 as it is, there is a high possibility that communication delay or communication interruption will be brought about.
  • the client screen data generation unit 211 continuously generates client screen data having a smaller capacity than the operation status data from the large capacity operation status data (raw data).
  • the small-capacity client screen data is continuously transmitted from the server device 200 to the client device 100.
  • client screen data is sequentially created from raw data, and the created client screen data is sequentially transmitted from the server device 200 to the client device 100. Therefore, the client screen data is transmitted from the server device 200 to the client device 100 in a state where communication delay and communication interruption are suppressed, and the client display device 120 displays at least the client screen data as shown in FIG.
  • the waveform data of the state quantity included in the screen data is displayed.
  • the administrator can grasp the operation status of the dump truck 2 by visually recognizing the waveform of the state quantity data as shown in the third area 403 included in the client screen data, for example. For example, if the waveform of the state quantity data is different from the steady state, it can be determined that the operation status of the dump truck 2 is abnormal. Therefore, the administrator who exists in a remote place can confirm the operating condition of the dump truck 2 reliably and smoothly via client screen data, without impairing real-time property.
  • the image data acquired by each of the cameras 310, the waveform data of the state quantity, and the dump truck 2 The map data indicating the area where the vehicle is traveling and the position data indicating the absolute position of the dump truck 2 acquired by the position calculator 31 are displayed on one screen at the same time, so that the operation status of the dump truck 2 can be smoothly and It can be confirmed reliably.
  • the traveling position of the dump truck 2 can be confirmed from the map data and the position data, and the situation of the traveling area can be confirmed from the image data acquired by each of the cameras 310. Further, the operating state of the dump truck 2 can be confirmed from the waveform data of the state quantity.
  • the state of the physical quantity such as the engine speed, which indicates the operation state of the dump truck 2, the traveling position of the dump truck 2, the situation of the traveling area, and the three conditions are associated with each other.
  • the operating status can be monitored. For example, when a rapid change in the engine speed can be confirmed from the waveform data of the state quantity, the cause analysis can be executed from the road surface condition and the travel position of the area where the dump truck 2 travels.
  • the client screen data includes information necessary and sufficient to confirm the operation status of the dump truck 2. Therefore, the operating status of the dump truck 2 can be analyzed in the remote client device 100. Further, based on the analysis result of the operation status of the dump truck 2, a failure diagnosis of the dump truck 2, a failure prediction of the dump truck 2, a maintenance plan of the dump truck 2, and the like can be performed. Further, based on the analysis result of the operation status of the dump truck 2, the operation condition or the use condition of the dump truck 2 is evaluated, for example, a measure for optimizing the operation condition or the use condition for improving the fuel consumption is taken. can do.
  • the operation status data (raw data) of the dump truck 2 and the position data (raw data) of the dump truck 2 calculated by the position calculator 31 are also sent from the server device 200 to the client device 100 in real time. Sent. Although transmission of operation status data and position data may cause a communication delay, the client device 100 may receive the operation status data by transmitting the operation status data and position data from the server device 200 to the client device 100. Based on the position data, the operation status of the dump truck 2 can be analyzed in more detail.
  • the server device 200 includes an authentication data acquisition unit 212 that acquires authentication data of the client device 100. Therefore, the server device 200 can transmit the client screen data only to the client device 100 having access authority.
  • a graphical user interface (GUI) of the server device 200 can be operated from the client device 100 using the remote desktop technology.
  • Input data generated by the administrator operating the client input device 130 of the client device 100 is transmitted to the server device 200 wirelessly.
  • the client screen data generation unit 211 of the server device 200 edits the client screen data based on the input data. Thereby, the client device 100 can remotely access the server device 200 to edit the client screen data.
  • the client screen data includes moving image data
  • the display control unit 112 of the client device 100 uses the image data and waveform data, which are time-series data acquired by the acquiring device 300, as moving image data. 120 is displayed in real time. Therefore, a remote manager can smoothly check the operation status of the dump truck 2 in real time.
  • a vibration sensor 320D that detects vibration generated in the dump truck 2 is provided as the state quantity sensor 320. Therefore, the display control unit 112 displays both the moving image data of the road surface on which the dump truck 2 travels acquired by the camera 310 and the waveform data of vibration generated in the dump truck 2 acquired by the vibration sensor 320D on the client screen. Data can be displayed on the display screen of the client display device 120. Thus, the administrator can determine whether the cause of the vibration generated in the dump truck 2 is due to the influence of the road surface or the abnormality of the dump truck 2 by looking at the display screen of the client display device 120. .
  • server screen data is generated from the operation status data. Therefore, not only a remote manager but also a driver on the dump truck 2 can smoothly check the operation status of the dump truck 2 in real time.
  • the server device 200 and the client device 100 communicate wirelessly via the portable antenna 4.
  • the travel route of the dump truck 2 changes daily. Therefore, the optimal position where the antenna 4 is set for wireless communication between the management facility 3 and the dump truck 2 changes every day.
  • the antenna 4 since the antenna 4 is portable, the wireless communication state and the place where the antenna 4 can be stably installed (the unevenness and inclination of the ground) are taken into consideration based on the traveling route of the dump truck 2 that changes.
  • Each of the plurality of antennas 4 can be easily installed at an optimal position.
  • FIG. 8 is a functional block diagram showing an example of the remote diagnosis system 1B according to the present embodiment.
  • the server data processing device 210 generates an operation signal for operating the acquisition device 300 based on input data generated by the client input device 130 of the client device 100.
  • An operation unit 218 is provided.
  • the administrator operates the client input device 130 of the client device 100 to remotely operate the acquisition device 300 via the server device 200.
  • the administrator may operate the zoom mechanism of the optical system of the camera 310, change the orientation of the camera 310, or calibrate the state quantity sensor 320 by operating the client input device 130. it can.
  • the acquisition device operation unit 218 When the client input device 130 is operated, the acquisition device operation unit 218 generates an operation signal for moving the acquisition device 300 based on the input data, and outputs the operation signal to the acquisition device 300.
  • the acquisition device operation unit 218 outputs an operation signal for driving the zoom mechanism of the camera 310 or an operation signal for driving an actuator capable of changing the orientation of the camera 310 based on the input data. can do.
  • the server device 200 generates the operation signal for operating the acquisition device 300 based on the input data generated by the client input device 130 of the client device 100. Is provided. Therefore, the administrator can remotely operate the acquisition device 300 by operating the client input device 130. Also in the present embodiment, a remote manager can smoothly and reliably confirm the operation status of the dump truck 2 in real time.
  • FIG. 9 is a diagram for explaining an example of a method for remotely operating the dump truck 2.
  • FIG. 9 is a diagram illustrating a method in which the dump truck 2 is remotely operated from the remote operation room 1000.
  • the remote control room 1000 and the dump truck 2 can communicate wirelessly via a communication device.
  • a camera image display device 1100 on which image data in front of the dump truck 2 acquired by the camera 310 is displayed, a client display device 1200, and the dump truck 2 are remotely connected.
  • An operating device 1300 to be operated and a driver seat 1400 are provided.
  • the operation device 1300 remotely operates a steering wheel 1300A for remotely operating the steering device of the dump truck 2, an accelerator pedal 1300B for remotely operating the output of the drive device 24 of the dump truck 2, and a brake device of the dump truck 2.
  • the client display device 1200 displays the client screen data generated by the client screen data generation unit 211 of the server device 200 of the dump truck 2 based on the traveling speed data of the dump truck 2 detected by the speed sensor 320C.
  • the client screen data generation unit 211 of the dump truck 2 generates client screen data indicating the traveling speed based on the traveling speed data detected by the speed sensor 320C.
  • the client screen data is time-series data indicating the traveling speed, and is moving image data indicating the traveling speed of the dump truck 2 that changes every moment.
  • the client screen data generation unit 211 continuously generates a traveling speed meter that is moving image data as client screen data.
  • the client screen data generated by the client screen data generation unit 211 of the dump truck 2 is continuously transmitted to the remote operation room 1000.
  • the client display device 1200 of the remote operation room 100 displays the client screen data transmitted from the dump truck 2.
  • the client screen data displayed on the client display device 1200 is an example.
  • the client screen data is not limited to a travel speed meter, and may be an image showing a change in travel speed as a waveform.
  • the target to be client screen data may be another physical quantity, for example, moving image data (time-series data) indicating a fuel remaining amount meter of the dump truck 2 or moving image data indicating an engine temperature meter ( Time-series data). According to the present embodiment, it is possible to effectively perform the operation status, failure diagnosis, failure prediction, and the like of the remotely operated dump truck 2 in a remote place.
  • FIG. 10 is a diagram schematically illustrating an example of the work vehicle 2000 according to the present embodiment.
  • the work vehicle 2 is a manned transport vehicle that travels by a driver's operation.
  • the work vehicle 2 may be an unmanned transport vehicle that travels without being operated by the driver.
  • the work vehicle 2000 includes a traveling device 2001 and a dump body 2002 supported by the traveling device 2001. There is no cab in work vehicle 2000.
  • the work vehicle 2000 travels or stops based on a command signal wirelessly supplied from the management facility.
  • Work vehicle 2000 may autonomously travel based on the detection results of a plurality of sensors mounted on work vehicle 2000.
  • the work vehicle 2000 which is an unmanned transport vehicle
  • failure diagnosis, failure prediction of the work vehicle 2000, maintenance planning of the work vehicle 2000, and the like can be effectively performed.
  • the work vehicle 2 is a transport vehicle.
  • the work vehicle may be a hydraulic excavator, a bulldozer, a wheel loader, or a forklift.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
  • Input / output unit 120 ... Client display device, 130 ... Client input device, 200 ... Server device, 210 ... Server data processing Device 211 ... Client screen data generation unit 212 ... Authentication data acquisition unit 213 ... Force data acquisition unit, 214 ... server screen data acquisition unit, 215 ... display control unit, 216 ... input data acquisition unit, 217 ... input / output unit, 218 ... acquisition device operation unit, 220 ... server display device 220 ... server input device, 300 ... Acquiring device, 310 ... Camera, 310A ... Camera, 310B ... Camera, 310C ... Camera, 310D ... Camera, 310E ... Camera, 310F ... Camera, 312 ... Monitor device, 312A ...

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Abstract

Provided is a work vehicle, comprising: an acquisition device which acquires operation situation data; a client screen data generating unit which generates, on the basis of the operation situation data, client screen data which a client display device of a client device is capable of displaying; and a wireless communication device which transmits the client screen data to the client device.

Description

作業車両、遠隔診断システム、及び遠隔診断方法Work vehicle, remote diagnosis system, and remote diagnosis method
　本発明は、作業車両、遠隔診断システム、及び遠隔診断方法に関する。 The present invention relates to a work vehicle, a remote diagnosis system, and a remote diagnosis method.
　遠隔地の作業車両の稼働状況を確認する技術が知られている。作業車両の稼働状況データを取得可能な取得装置として、例えば、カメラ又はセンサのような機器を作業車両に設け、取得装置で取得された稼動状況データが無線通信装置によって遠隔地に送信される技術が知られている。稼働状況データを取得あるいは解析することで、作業車両の故障診断、作業車両の故障予測、及び作業車両のメンテナンス計画などが実施される。 A technology for confirming the operating status of work vehicles in remote locations is known. As an acquisition device capable of acquiring operation status data of a work vehicle, for example, a device such as a camera or a sensor is provided in the work vehicle, and the operation status data acquired by the acquisition device is transmitted to a remote place by a wireless communication device It has been known. By obtaining or analyzing the operation status data, failure diagnosis of the work vehicle, failure prediction of the work vehicle, maintenance plan of the work vehicle, and the like are performed.
特開２０１０－１９８１５８号公報JP 2010-198158 A
　取得装置によって取得された稼働状況データが大容量になると、無線通信装置によって遠隔地に送信される場合、通信遅延及び通信遮断が発生する可能性がある。作業車両には多数のセンサ又は多種類のセンサが取り付けられており、それに伴い、センサが検出したデータは大容量となる。また、センサが検出したデータを用いて、リアルタイムに作業車両の稼働状況を確認したい場合、センサから出力されるデータは、可能な限り短いサンプリング周期である必要があり、それによってもセンサから検出されるデータは大容量となる。このように、センサの種類や数が多いこと及びセンサが出力するデータのサンプリング周期が短周期であること、これらに起因して、通信遅延及び通信遮断が発生すると、遠隔地において作業車両の稼働状況をリアルタイムに確認することが困難となる。 If the operating status data acquired by the acquisition device becomes large, communication delays and communication interruptions may occur when it is transmitted to a remote location by the wireless communication device. A large number of sensors or various types of sensors are attached to the work vehicle, and accordingly, the data detected by the sensors has a large capacity. In addition, when it is desired to check the operation status of the work vehicle in real time using the data detected by the sensor, the data output from the sensor needs to have a sampling period as short as possible, and is also detected from the sensor. Large amount of data. As described above, when there are many types and numbers of sensors and the sampling period of data output from the sensors is short, and when communication delay and communication interruption occur due to these, operation of the work vehicle in a remote place It becomes difficult to check the situation in real time.
　本発明の態様は、リアルタイム性を損なうことなく、遠隔地で作業車両が稼働する場合において、作業車両の稼働状況を円滑に確認することができる作業車両、遠隔診断システム、及び遠隔診断方法を提供することを目的とする。 Aspects of the present invention provide a work vehicle, a remote diagnosis system, and a remote diagnosis method that can smoothly check the operation status of the work vehicle when the work vehicle operates in a remote place without impairing real-time performance. The purpose is to do.
　本発明の第１の態様に従えば、稼働状況データを取得する取得装置と、前記稼動状況データに基づいてクライアント機器のクライアント表示装置が表示可能なクライアント画面データを生成するクライアント画面データ生成部と、前記クライアント画面データを前記クライアント機器に送信する無線通信装置と、を備える作業車両が提供される。 According to the first aspect of the present invention, an acquisition device that acquires operating status data, and a client screen data generating unit that generates client screen data that can be displayed by a client display device of a client device based on the operating status data; And a wireless communication device that transmits the client screen data to the client device.
　本発明の第２の態様に従えば、作業車両の稼働状況データに基づいて生成されたクライアント画面データを前記作業車両のサーバ機器から通信回線を介して取得するクライアント画面データ取得部と、前記クライアント画面データをクライアント機器のクライアント表示装置に表示させる表示制御部と、を備える遠隔診断システムが提供される。 According to the second aspect of the present invention, a client screen data acquisition unit that acquires client screen data generated based on operation status data of a work vehicle from a server device of the work vehicle via a communication line, and the client There is provided a remote diagnosis system including a display control unit that displays screen data on a client display device of a client device.
　本発明の第３の態様に従えば、作業車両の稼働状況データを取得することと、前記稼動状況データに基づいてクライアント画面データを生成することと、通信回線を介して前記作業車両のサーバ機器からクライアント機器に前記クライアント画面データを送信することと、前記クライアント機器のクライアント表示装置に前記クライアント画面データを表示させることと、を含む遠隔診断方法が提供される。 According to the third aspect of the present invention, the operation status data of the work vehicle is acquired, the client screen data is generated based on the operation status data, and the server device of the work vehicle via a communication line. Transmitting the client screen data to the client device, and displaying the client screen data on a client display device of the client device.
　本発明によれば、リアルタイム性を損なうことなく、遠隔地で作業車両が稼働する場合において、作業車両の稼働状況を円滑に確認することができる作業車両、遠隔診断システム、及び遠隔診断方法が提供される。 According to the present invention, there is provided a work vehicle, a remote diagnosis system, and a remote diagnosis method capable of smoothly confirming an operation state of the work vehicle when the work vehicle is operated in a remote place without impairing real-time performance. Is done.
図１は、第１実施形態に係る遠隔診断システムの一例を模式的に示す図である。FIG. 1 is a diagram schematically illustrating an example of a remote diagnosis system according to the first embodiment. 図２は、第１実施形態に係る作業車両の一例を模式的に示す側面図である。FIG. 2 is a side view schematically showing an example of the work vehicle according to the first embodiment. 図３は、第１実施形態に係る作業車両の一例を模式的に示す平面図である。FIG. 3 is a plan view schematically showing an example of the work vehicle according to the first embodiment. 図４は、第１実施形態に係る作業車両の運転室の一例を模式的に示す図である。FIG. 4 is a diagram schematically illustrating an example of a cab of the work vehicle according to the first embodiment. 図５は、第１実施形態に係る遠隔診断システムの一例を示す機能ブロック図である。FIG. 5 is a functional block diagram illustrating an example of a remote diagnosis system according to the first embodiment. 図６は、第１実施形態に係る遠隔診断方法の一例を示すフローチャートである。FIG. 6 is a flowchart illustrating an example of the remote diagnosis method according to the first embodiment. 図７は、第１実施形態に係るクライアント表示装置に表示されるクライアント画面データの一例を示す図である。FIG. 7 is a diagram illustrating an example of client screen data displayed on the client display device according to the first embodiment. 図８は、第２実施形態に係る遠隔診断システムの一例を示す機能ブロック図である。FIG. 8 is a functional block diagram illustrating an example of a remote diagnosis system according to the second embodiment. 図９は、第３実施形態に係る遠隔診断システムの一例を模式的に示す図である。FIG. 9 is a diagram schematically illustrating an example of a remote diagnosis system according to the third embodiment. 図１０は、第４実施形態に係る作業車両の一例を模式的に示す側面図である。FIG. 10 is a side view schematically showing an example of the work vehicle according to the fourth embodiment.
　以下、本発明に係る実施形態について図面を参照しながら説明するが本発明はこれに限定されない。以下で説明する実施形態の構成要素は適宜組み合わせることができる。また、一部の構成要素を用いない場合もある。 Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of the embodiments described below can be combined as appropriate. Some components may not be used.
［第１実施形態］
（遠隔診断システムの概要）
　第１実施形態について説明する。図１は、本実施形態に係る遠隔診断システム１Ａの一例を模式的に示す図である。図１に示すように、遠隔診断システム１Ａは、遠隔地の作業車両２の稼働状況を確認するためのクライアント機器１００を備える。クライアント機器１００は、管理施設３に設置される。なお、本実施形態においては、遠隔地の作業車両２とは、管理施設３から離れた場所で稼働する作業車両２を指し、管理施設３と作業車両２との距離は限定しない。したがって、遠隔地とは、管理施設３から作業車両２を視認できる場合と視認できない場合とを含む。クライアント機器１００は、アンテナ４及び通信回線５を介して、作業車両２に搭載されたサーバ機器２００と通信可能である。アンテナ４は、可搬式のアンテナであり、無線通信の中継局として機能する。通信回線５は、無線ＬＡＮ（Local　Area　Network）を含む。なお、通信回線５が、携帯電話網及びインターネットの少なくとも一方を含んでもよい。 [First Embodiment]
(Outline of remote diagnosis system)
A first embodiment will be described. FIG. 1 is a diagram schematically illustrating an example of a remote diagnosis system 1A according to the present embodiment. As shown in FIG. 1, the remote diagnosis system 1 </ b> A includes a client device 100 for confirming the operation status of the work vehicle 2 at a remote location. The client device 100 is installed in the management facility 3. In the present embodiment, the remote work vehicle 2 refers to the work vehicle 2 operating at a location away from the management facility 3, and the distance between the management facility 3 and the work vehicle 2 is not limited. Therefore, the remote place includes a case where the work vehicle 2 can be visually recognized from the management facility 3 and a case where the work vehicle 2 cannot be visually recognized. The client device 100 can communicate with the server device 200 mounted on the work vehicle 2 via the antenna 4 and the communication line 5. The antenna 4 is a portable antenna and functions as a radio communication relay station. The communication line 5 includes a wireless LAN (Local Area Network). The communication line 5 may include at least one of a mobile phone network and the Internet.
　クライアント機器１００は、パーソナルコンピュータのようなコンピュータシステムを含む。クライアント機器１００は、クライアントデータ処理装置１１０と、クライアント表示装置１２０と、クライアント入力装置１３０とを有する。クライアントデータ処理装置１１０は、ＣＰＵ（Central　Processing　Unit）のようなプロセッサ、ＲＯＭ（Read　Only　Memory）のような不揮発性メモリ又はＲＡＭ（Random　Access　Memory）のような揮発性メモリを含む記憶装置、及び入出力インターフェース装置を有する。クライアント表示装置１２０は、液晶ディスプレイ（Liquid　Crystal　Display：ＬＣＤ）又は有機ＥＬディスプレイ（Organic　Electroluminescence　Display：ＯＥＬＤ）のようなフラットパネルディスプレイを含む。クライアント入力装置１３０は、コンピュータ用キーボード、マウス、及びクライアント表示装置１２０の表示画面に設けられたタッチセンサの少なくとも一つを含む。 The client device 100 includes a computer system such as a personal computer. The client device 100 includes a client data processing device 110, a client display device 120, and a client input device 130. The client data processing device 110 includes a processor such as a CPU (Central Processing Unit), a non-volatile memory such as a ROM (Read Only Memory) or a storage device including a volatile memory such as a RAM (Random Access Memory), and an input. It has an output interface device. The client display device 120 includes a flat panel display such as a liquid crystal display (LCD) or an organic EL display (OELD). The client input device 130 includes at least one of a computer keyboard, a mouse, and a touch sensor provided on the display screen of the client display device 120.
　サーバ機器２００は、パーソナルコンピュータのようなコンピュータシステムを含む。サーバ機器２００は、サーバデータ処理装置２１０と、サーバ表示装置２２０と、サーバ入力装置２３０とを有する。サーバデータ処理装置２１０は、ＣＰＵのようなプロセッサ、ＲＯＭのような不揮発性メモリ又はＲＡＭのような揮発性メモリを含む記憶装置、及び入出力インターフェース装置を有する。サーバ表示装置２２０は、液晶ディスプレイ又は有機ＥＬディスプレイのようなフラットパネルディスプレイを含む。サーバ入力装置２３０は、コンピュータ用キーボード、マウス、及びサーバ表示装置２２０の表示画面に設けられたタッチセンサの少なくとも一つを含む。なお、サーバデータ処理装置２１０、サーバ表示装置２２０、及びサーバ入力装置２３０は、一体化したものでも別体であってもよい。また、サーバ機器２００は、サーバ表示装置２２０を備えなくてもよい。 The server device 200 includes a computer system such as a personal computer. The server device 200 includes a server data processing device 210, a server display device 220, and a server input device 230. The server data processing device 210 includes a processor such as a CPU, a non-volatile memory such as a ROM, a storage device including a volatile memory such as a RAM, and an input / output interface device. The server display device 220 includes a flat panel display such as a liquid crystal display or an organic EL display. The server input device 230 includes at least one of a computer keyboard, a mouse, and a touch sensor provided on the display screen of the server display device 220. The server data processing device 210, the server display device 220, and the server input device 230 may be integrated or separate. The server device 200 may not include the server display device 220.
　クライアント機器１００は、アンテナ４及び通信回線５を介して、サーバ機器２００にリモートアクセスすることができる。リモートアクセスとは、遠隔地にあるサーバ機器２００とネットワーク接続して、接続先のサーバ機器２００が保有するデータを遠隔地から利用する技術をいう。クライアント機器１００のクライアント表示装置１２０の表示画面には、サーバ機器２００のサーバ表示装置２２０の表示画面に表示される画面データと実質的に同一の画面データが表示される。また、管理者は、クライアント機器１００のクライアント入力装置１３０を操作して、サーバ機器２００を遠隔操作することができる。 The client device 100 can remotely access the server device 200 via the antenna 4 and the communication line 5. Remote access refers to a technique for connecting to a server device 200 at a remote location via a network and using data held by the server device 200 at the connection destination from a remote location. On the display screen of the client display device 120 of the client device 100, screen data substantially the same as the screen data displayed on the display screen of the server display device 220 of the server device 200 is displayed. In addition, the administrator can remotely operate the server device 200 by operating the client input device 130 of the client device 100.
　本実施形態において、作業車両２の絶対位置が、ＧＮＳＳ（Global　Navigation　Satellite　System）を利用して検出される。ＧＮＳＳとは、全地球航法衛星システムをいう。全地球航法衛星システムの一例として、ＧＰＳ（Global　Positioning　System）が挙げられる。ＧＮＳＳは、複数の測位衛星を有する。ＧＮＳＳは、緯度、経度、及び高度の座標データで規定される位置を検出する。ＧＮＳＳにより検出される位置は、グローバル座標系において規定される絶対位置である。ＧＮＳＳにより、作業車両２の絶対位置が検出される。 In the present embodiment, the absolute position of the work vehicle 2 is detected using GNSS (Global Navigation Satellite System). GNSS refers to the global navigation satellite system. One example of a global navigation satellite system is GPS (Global Positioning System). The GNSS has a plurality of positioning satellites. The GNSS detects a position defined by latitude, longitude, and altitude coordinate data. The position detected by GNSS is an absolute position defined in the global coordinate system. The absolute position of the work vehicle 2 is detected by GNSS.
（作業車両）
　次に、作業車両２について説明する。図２は、本実施形態に係る作業車両２の一例を模式的に示す側面図である。図３は、本実施形態に係る作業車両２の一例を模式的に示す平面図である。本実施形態において、作業車両２は、運搬車両の一種であるダンプトラックである。以下の説明においては、作業車両２を適宜、ダンプトラック２、と称する。本実施形態において、ダンプトラック２は、ダンプトラック２に搭乗した運転者の操作により走行する有人ダンプトラックである。 (Work vehicle)
Next, the work vehicle 2 will be described. FIG. 2 is a side view schematically showing an example of the work vehicle 2 according to the present embodiment. FIG. 3 is a plan view schematically showing an example of the work vehicle 2 according to the present embodiment. In the present embodiment, the work vehicle 2 is a dump truck that is a kind of transport vehicle. In the following description, the work vehicle 2 is appropriately referred to as a dump truck 2. In the present embodiment, the dump truck 2 is a manned dump truck that travels by an operation of a driver who has boarded the dump truck 2.
　ダンプトラック２は、走行装置２１と、走行装置２１に支持される車両本体２２と、車両本体２２に支持されるベッセル２３と、走行装置２１を駆動する駆動装置２４と、制御装置２５と、ダンプトラック２の絶対位置を算出する位置演算器３１と、無線通信装置３２と、サーバ機器２００と、ダンプトラック２の稼働状況データを取得する取得装置３００とを備える。 The dump truck 2 includes a traveling device 21, a vehicle main body 22 supported by the traveling device 21, a vessel 23 supported by the vehicle main body 22, a drive device 24 that drives the traveling device 21, a control device 25, a dump truck A position calculator 31 that calculates the absolute position of the truck 2, a wireless communication device 32, a server device 200, and an acquisition device 300 that acquires operation status data of the dump truck 2 are provided.
　走行装置２１は、車輪、ブレーキ装置、及び操舵装置を含む。走行装置２１は、駆動装置２４が発生した駆動力により作動する。駆動装置２４は、ダンプトラック２を加速させるための駆動力を発生する。駆動装置２４は、例えば電気駆動方式により走行装置２１を駆動する。駆動装置２４は、ディーゼルエンジンのような内燃機関と、内燃機関の動力により作動する発電機と、発電機が発生した電力により作動して車輪を回転させる電動機とを有する。 The traveling device 21 includes a wheel, a brake device, and a steering device. The traveling device 21 is operated by the driving force generated by the driving device 24. The driving device 24 generates a driving force for accelerating the dump truck 2. The driving device 24 drives the traveling device 21 by, for example, an electric driving method. The drive device 24 includes an internal combustion engine such as a diesel engine, a generator that is operated by power of the internal combustion engine, and an electric motor that is operated by electric power generated by the generator and rotates wheels.
　車両本体２２には、ダンプトラック２の運転者が搭乗する運転室２６が設けられる。運転室２６には、操舵装置を操作するためのステアリングホイール、駆動装置２４の出力を調整するためのアクセルペダル、及びブレーキ装置を操作するためのブレーキペダルなどが設けられる。 The vehicle main body 22 is provided with a cab 26 in which the driver of the dump truck 2 is boarded. The cab 26 is provided with a steering wheel for operating the steering device, an accelerator pedal for adjusting the output of the driving device 24, a brake pedal for operating the brake device, and the like.
　位置演算器３１は、ＧＰＳ受信機を含み、ダンプトラック２の絶対位置を算出する。位置演算器３１は、ＧＰＳ用のアンテナ３１Ａを有する。アンテナ３１Ａは、測位衛星からの電波を受信する。位置演算器３１は、アンテナ３１Ａで受信した測位衛星からの電波信号を電気信号に変換して、アンテナ３１Ａの絶対位置を算出する。アンテナ３１Ａの絶対位置が算出されることによってダンプトラック２の絶対位置が算出される。 The position calculator 31 includes a GPS receiver and calculates the absolute position of the dump truck 2. The position calculator 31 has a GPS antenna 31A. The antenna 31A receives radio waves from the positioning satellite. The position calculator 31 converts the radio signal from the positioning satellite received by the antenna 31A into an electric signal, and calculates the absolute position of the antenna 31A. The absolute position of the dump truck 2 is calculated by calculating the absolute position of the antenna 31A.
　無線通信装置３２は、アンテナ３２Ａを有する。無線通信装置３２は、クライアント機器１００と無線通信可能である。 The wireless communication device 32 has an antenna 32A. The wireless communication device 32 can wirelessly communicate with the client device 100.
　取得装置３００は、ダンプトラック２の稼働状況を示す稼働状況データを取得する。本実施形態において、取得装置３００は、画像データを取得するカメラ３１０と、ダンプトラック２の状態を検出する状態量センサ３２０とを含む。なお、取得装置３００は、ダンプトラック２の絶対位置を算出する位置演算器３１を含んでもよい。 The acquisition device 300 acquires operation status data indicating the operation status of the dump truck 2. In the present embodiment, the acquisition device 300 includes a camera 310 that acquires image data and a state quantity sensor 320 that detects the state of the dump truck 2. The acquisition device 300 may include a position calculator 31 that calculates the absolute position of the dump truck 2.
　カメラ３１０は、ダンプトラック２の稼働状況データとして、ダンプトラック２の周囲の画像データ及びダンプトラック２の運転室２６内の画像データの少なくとも一方を取得する。カメラ３１０は、少なくともダンプトラック２の前方の画像データを取得する。 The camera 310 acquires at least one of the image data around the dump truck 2 and the image data in the cab 26 of the dump truck 2 as the operation status data of the dump truck 2. The camera 310 acquires at least image data in front of the dump truck 2.
　本実施形態において、カメラ３１０は、ダンプトラック２に、例えば６台設けられる。６台のカメラ３１０のうち、第１のカメラ３１０Ａは車両本体２２の前部の中央部に設けられ、第２のカメラ３１０Ｂは車両本体２２の前部の左部に設けられ、第３のカメラ３１０Ｃは車両本体２２の前部の右部に設けられる。カメラ３１０Ａ，３１０Ｂ，３１０Ｃは、ダンプトラック２の前方の画像データを取得する。 In the present embodiment, for example, six cameras 310 are provided on the dump truck 2. Of the six cameras 310, the first camera 310A is provided at the center of the front portion of the vehicle main body 22, and the second camera 310B is provided at the left portion of the front portion of the vehicle main body 22. 310C is provided in the right part of the front part of the vehicle main body 22. The cameras 310A, 310B, and 310C acquire image data in front of the dump truck 2.
　６台のカメラ３１０のうち、第４のカメラ３１０Ｄは車両本体２２の左の側部に設けられ、第５のカメラ３１０Ｅは車両本体２２の右の側部に設けられる。カメラ３１０Ｄ，３１０Ｅは、ダンプトラック２の側方及び後方の画像データを取得する。 Among the six cameras 310, the fourth camera 310D is provided on the left side of the vehicle body 22, and the fifth camera 310E is provided on the right side of the vehicle body 22. The cameras 310D and 310E acquire the image data of the side and rear of the dump truck 2.
　図４は、本実施形態に係るダンプトラック２の運転室２６の一例を模式的に示す図である。図４に示すように、運転室２６にはステアリングホイール２７が設けられる。また、６台のカメラ３１０のうち、第６のカメラ３１０Ｆは運転室２６に設けられる。カメラ３１０Ｆは、例えば、ダッシュボード２８の上に設置され、ダンプトラック２の車内である運転室２６の画像データを取得する。また、カメラ３１０Ｆは、運転室２６に搭乗している運転者の画像データを取得する。 FIG. 4 is a diagram schematically illustrating an example of the cab 26 of the dump truck 2 according to the present embodiment. As shown in FIG. 4, a steering wheel 27 is provided in the cab 26. Of the six cameras 310, the sixth camera 310F is provided in the cab 26. The camera 310 </ b> F is installed on the dashboard 28, for example, and acquires image data of the cab 26 that is inside the dump truck 2. In addition, the camera 310F acquires image data of a driver who is in the cab 26.
　図４に示すように、運転室２６には、カメラ３１０で取得された画像データが表示されるモニタ装置３１２が配置される。モニタ装置３１２は、第１のカメラ３１０Ａで取得された画像データを表示する第１のモニタ装置３１２Ａ、第２のカメラ３１０Ｂで取得された画像データを表示する第２のモニタ装置３１２Ｂ、第３のカメラ３１０Ｃで取得された画像データを表示する第３のモニタ装置３１２Ｃ、第４のカメラ３１０Ｄで取得された画像データを表示する第４のモニタ装置３１２Ｄ、第５のカメラ３１０Ｅで取得された画像データを表示する第５のモニタ装置３１２Ｅ、及び第６のカメラ３１０Ｆで取得された画像データを表示する第６のモニタ装置３１２Ｆを含む。 As shown in FIG. 4, a monitor device 312 on which image data acquired by the camera 310 is displayed is arranged in the cab 26. The monitor device 312 includes a first monitor device 312A that displays image data acquired by the first camera 310A, a second monitor device 312B that displays image data acquired by the second camera 310B, and a third monitor device. The third monitor device 312C for displaying the image data acquired by the camera 310C, the fourth monitor device 312D for displaying the image data acquired by the fourth camera 310D, and the image data acquired by the fifth camera 310E And a sixth monitor device 312F for displaying image data acquired by the sixth camera 310F.
　本実施形態において、カメラ３１０は、動画データを取得可能なビデオカメラ機能を有する。モニタ装置３１２には、カメラ３１０で取得された動画データがリアルタイムに表示される。本実施形態においては、画像データは動画データや静止画データを含む。 In this embodiment, the camera 310 has a video camera function capable of acquiring moving image data. The monitor device 312 displays the moving image data acquired by the camera 310 in real time. In the present embodiment, the image data includes moving image data and still image data.
　なお、カメラ３１０は、ダンプトラック２の周囲の画像データ及びダンプトラック２の運転室２６内の画像データのみならず、適宜、カメラ３１０の設置位置を変更してもよい。例えば、走行装置２１の少なくとも一部の画像データを取得してもよいし、車両本体２２の少なくとも一部の画像データを取得してもよい。また、カメラ３１０の数は、６台に限られず任意の数でよい。 The camera 310 may change not only the image data around the dump truck 2 and the image data in the cab 26 of the dump truck 2 but also the installation position of the camera 310 as appropriate. For example, at least a part of the image data of the traveling device 21 may be acquired, or at least a part of the image data of the vehicle main body 22 may be acquired. The number of cameras 310 is not limited to six and may be any number.
　状態量センサ３２０は、ダンプトラック２の稼働状況データとして、ダンプトラック２の状態を示す状態量データを検出する。図２に示すように、本実施形態において、状態量センサ３２０は、例えば、駆動装置２４であるディーゼルエンジンの単位時間当たりの回転数を検出するエンジン回転数センサ３２０Ａ、ディーゼルエンジンの冷却水の温度を検出するエンジン温度センサ３２０Ｂ、走行装置２１の走行速度を検出する速度センサ３２０Ｃ、及びダンプトラック２に発生する振動を示す加速度を検出する振動センサ３２０Ｄを含む。 The state quantity sensor 320 detects state quantity data indicating the state of the dump truck 2 as the operation status data of the dump truck 2. As shown in FIG. 2, in the present embodiment, the state quantity sensor 320 includes, for example, an engine speed sensor 320 </ b> A that detects the speed per unit time of the diesel engine that is the driving device 24, and the temperature of the cooling water of the diesel engine. An engine temperature sensor 320B that detects the vehicle speed, a speed sensor 320C that detects the traveling speed of the traveling device 21, and a vibration sensor 320D that detects acceleration indicating vibration generated in the dump truck 2.
　なお、状態量センサ３２０で検出されるダンプトラック２の状態量は、ディーゼルエンジンの単位時間当たりの回転数、ディーゼルエンジンの温度、走行装置２１の走行速度、及びダンプトラック２に発生する振動に限定されない。状態量センサ３２０で検出されるダンプトラック２の状態量は、例えば、ダンプトラック２の油圧回路の油圧、ダンプトラック２に作用する応力、及び走行装置２１の加速度の少なくとも一つを含めてもよい。 The state quantity of the dump truck 2 detected by the state quantity sensor 320 is limited to the rotational speed per unit time of the diesel engine, the temperature of the diesel engine, the traveling speed of the traveling device 21, and the vibration generated in the dump truck 2. Not. The state quantity of the dump truck 2 detected by the state quantity sensor 320 may include at least one of the hydraulic pressure of the hydraulic circuit of the dump truck 2, the stress acting on the dump truck 2, and the acceleration of the traveling device 21, for example. .
　取得装置３００は、集音装置を含めてもよい。マイクなどの集音装置を運転室２６内に設け、運転者の声や図示しない警告装置が発する警告音などを集音するようにしてもよい。また、集音装置を、例えば、駆動装置２４の近傍に設け、ディーゼルエンジンなどが発する駆動音を集音するようにしてもよい。すなわち、稼働状況データは、音声データを含めてもよい。 The acquisition device 300 may include a sound collection device. A sound collecting device such as a microphone may be provided in the cab 26 to collect a driver's voice or a warning sound emitted from a warning device (not shown). Further, for example, a sound collecting device may be provided in the vicinity of the driving device 24 to collect driving sound emitted by a diesel engine or the like. That is, the operating status data may include voice data.
（遠隔診断システム）
　次に、遠隔診断システム１Ａについて説明する。図５は、本実施形態に係る遠隔診断システム１Ａの一例を示す機能ブロック図である。図５に示すように、遠隔診断システム１Ａは、クライアント機器１００と、アンテナ４及び通信回線５を介してクライアント機器１００と通信可能なサーバ機器２００と、ダンプトラック２の絶対位置を算出する位置演算器３１と、サーバ機器２００と接続された無線通信装置３２と、カメラ３１０及び状態量センサ３２０を含む取得装置３００と、カメラ３１０の画像データを取得する画像データ収集装置３３０と、状態量センサ３２０で検出された状態量データを取得する状態量データ収集装置３４０とを備える。 (Remote diagnosis system)
Next, the remote diagnosis system 1A will be described. FIG. 5 is a functional block diagram showing an example of the remote diagnosis system 1A according to the present embodiment. As shown in FIG. 5, the remote diagnosis system 1 </ b> A includes a client device 100, a server device 200 that can communicate with the client device 100 via the antenna 4 and the communication line 5, and a position calculation that calculates the absolute position of the dump truck 2. Device 31, wireless communication device 32 connected to server device 200, acquisition device 300 including camera 310 and state quantity sensor 320, image data collection device 330 that acquires image data of camera 310, and state quantity sensor 320 And a state quantity data collecting device 340 for obtaining the state quantity data detected in step (1).
　サーバ機器２００は、サーバデータ処理装置２１０と、サーバ表示装置２２０と、サーバ入力装置２３０とを備える。クライアント機器１００は、クライアントデータ処理装置１１０と、クライアント表示装置１２０と、クライアント入力装置１３０とを備える。 The server device 200 includes a server data processing device 210, a server display device 220, and a server input device 230. The client device 100 includes a client data processing device 110, a client display device 120, and a client input device 130.
　サーバデータ処理装置２１０は、取得装置３００で取得された稼動状況データに基づいて、クライアント機器１００のクライアント表示装置１２０が表示可能なクライアント画面データを生成するクライアント画面データ生成部２１１を有する。クライアント画面データについての詳細は後述する。サーバデータ処理装置２１０は、更に、クライアント機器１００の認証データをクライアント機器１００から取得する認証データ取得部２１２と、クライアント入力装置１３０で生成された入力データをクライアント機器１００から取得する入力データ取得部２１３と、取得装置３００で取得された稼働状況データに基づいて、サーバ表示装置２２０が表示可能なサーバ画面データを生成するサーバ画面データ生成部２１４と、サーバ画面データをサーバ表示装置２２０に表示させる表示制御部２１５と、サーバ入力装置２３０で生成された入力データを取得する入力データ取得部２１６と、入出力部２１７とを有する。なお、前述のように、サーバ表示装置２２０を備えない場合、サーバデータ処理装置２１０は、サーバ画面データ生成部２１４と表示制御部２１５を備えなくてもよい。 The server data processing device 210 includes a client screen data generation unit 211 that generates client screen data that can be displayed by the client display device 120 of the client device 100 based on the operation status data acquired by the acquisition device 300. Details of the client screen data will be described later. The server data processing device 210 further includes an authentication data acquisition unit 212 that acquires authentication data of the client device 100 from the client device 100, and an input data acquisition unit that acquires input data generated by the client input device 130 from the client device 100. 213, based on the operation status data acquired by the acquisition device 300, a server screen data generation unit 214 that generates server screen data that can be displayed by the server display device 220, and causes the server display device 220 to display the server screen data. The display control unit 215 includes an input data acquisition unit 216 that acquires input data generated by the server input device 230, and an input / output unit 217. As described above, when the server display device 220 is not provided, the server data processing device 210 may not include the server screen data generation unit 214 and the display control unit 215.
　クライアントデータ処理装置１１０は、クライアント画面データ生成部２１１で生成されたクライアント画面データをサーバ機器２００から取得するクライアント画面データ取得部１１１と、クライアント画面データをクライアント表示装置１２０に表示させる表示制御部１１２と、クライアント入力装置１３０で生成された入力データを取得する入力データ取得部１１３と、入出力部１１４とを有する。 The client data processing device 110 includes a client screen data acquisition unit 111 that acquires the client screen data generated by the client screen data generation unit 211 from the server device 200, and a display control unit 112 that displays the client screen data on the client display device 120. An input data acquisition unit 113 that acquires input data generated by the client input device 130, and an input / output unit 114.
　クライアント画面データ生成部２１１は、取得装置３００で取得された稼動状況データに基づいて、クライアント画面データを生成する。稼働状況データは、カメラ３１０で取得された画像データ及び状態量センサ３２０で取得された状態量データを含む。クライアント画面データは、クライアント表示装置１２０が表示可能な画面データである。状態量センサ３２０で取得された状態量データは、状態量センサ３２０で取得された状態量データに基づく波形の画像を含む。したがって、クライアント表示装置１２０に表示されるクライアント画面データは、カメラ３１０で取得された画像データ、状態量センサ３２０で取得された状態量データ、ダンプトラック２が走行するエリアを示すマップデータ、及び位置演算器３１で取得されたダンプトラック２の絶対位置を示す位置データを含む。マップデータや位置データについての詳細は、後述する。また、クライアント表示装置１２０に表示されるクライアント画面データは、状態量センサ３２０で取得された状態量データに基づく波形の画像のみで構成されていてもよい。あるいは、クライアント表示装置１２０に表示されるクライアント画面データは、状態量センサ３２０で取得された状態量データに基づく波形の画像と位置演算器３１で取得されたダンプトラック２の絶対位置を示す位置データとで構成されていてもよい。 The client screen data generation unit 211 generates client screen data based on the operation status data acquired by the acquisition device 300. The operation status data includes image data acquired by the camera 310 and state quantity data acquired by the state quantity sensor 320. The client screen data is screen data that can be displayed by the client display device 120. The state quantity data acquired by the state quantity sensor 320 includes a waveform image based on the state quantity data acquired by the state quantity sensor 320. Accordingly, client screen data displayed on the client display device 120 includes image data acquired by the camera 310, state quantity data acquired by the state quantity sensor 320, map data indicating an area where the dump truck 2 travels, and position Position data indicating the absolute position of the dump truck 2 acquired by the calculator 31 is included. Details of the map data and position data will be described later. Further, the client screen data displayed on the client display device 120 may be composed of only a waveform image based on the state quantity data acquired by the state quantity sensor 320. Alternatively, the client screen data displayed on the client display device 120 includes a waveform image based on the state quantity data acquired by the state quantity sensor 320 and position data indicating the absolute position of the dump truck 2 acquired by the position calculator 31. And may be configured.
　クライアント画面データ生成部２１１は、クライアント表示装置１２０の固有データに基づいて、クライアント画面データを生成する。クライアント表示装置１２０の固有データは、クライアント機器１００から通信回線５及びアンテナ４を介してサーバ機器２００に送信される。クライアント画面データ生成部２１１は、無線通信装置３２及び入出力部２１７を介して、クライアント表示装置１２０の固有データを取得する。クライアント表示装置１２０の固有データとは、クライアント表示装置１２０が表示可能な表示形式を示す表示形式データを含むものである。クライアント表示装置１２０の表示形式データとは、クライアント表示装置１２０の画面サイズ、解像度、及び色数の少なくとも一つを含むものである。 The client screen data generation unit 211 generates client screen data based on the unique data of the client display device 120. The unique data of the client display device 120 is transmitted from the client device 100 to the server device 200 via the communication line 5 and the antenna 4. The client screen data generation unit 211 acquires unique data of the client display device 120 via the wireless communication device 32 and the input / output unit 217. The unique data of the client display device 120 includes display format data indicating a display format that the client display device 120 can display. The display format data of the client display device 120 includes at least one of the screen size, resolution, and number of colors of the client display device 120.
　認証データ取得部２１２は、クライアント機器１００の認証データをクライアント機器１００から取得する。認証データは、例えばクライアント入力装置１３０により入力されたパスワードを含む。認証データ取得部２１２は、クライアント機器１００から供給された認証データに基づいて、クライアント機器１００にアクセス権限が付与されているか否かを判定する。認証データ取得部２１２は、クライアント機器１００からアクセス要求を受信したとき、認証データに基づいて、アクセス許可するか否かを判定する。クライアント機器１００の認証データは、クライアント機器１００から通信回線５及びアンテナ４を介してサーバ機器２００に送信される。認証データ取得部２１２は、無線通信装置３２及び入出力部２１７を介して、クライアント機器１００の認証データを取得する。 The authentication data acquisition unit 212 acquires authentication data of the client device 100 from the client device 100. The authentication data includes, for example, a password input by the client input device 130. The authentication data acquisition unit 212 determines whether access authority is granted to the client device 100 based on the authentication data supplied from the client device 100. When receiving an access request from the client device 100, the authentication data acquisition unit 212 determines whether to permit access based on the authentication data. The authentication data of the client device 100 is transmitted from the client device 100 to the server device 200 via the communication line 5 and the antenna 4. The authentication data acquisition unit 212 acquires authentication data of the client device 100 via the wireless communication device 32 and the input / output unit 217.
　無線通信装置３２は、認証データに基づいて、クライアント画面データ生成部２１１で生成されたクライアント画面データをクライアント機器１００に送信する。認証データ取得部２１２においてアクセス許可されたクライアント機器１００にクライアント画面データが送信される。認証データ取得部２１２においてアクセス許可されないクライアント機器１００にクライアント画面データは送信されない。クライアント機器１００に送信されるクライアント画面データは、カメラ３１０で取得された画像データ、状態量センサ３２０で取得された状態量データを含む。 The wireless communication device 32 transmits the client screen data generated by the client screen data generation unit 211 to the client device 100 based on the authentication data. The client screen data is transmitted to the client device 100 permitted to access in the authentication data acquisition unit 212. Client screen data is not transmitted to the client device 100 that is not permitted to access in the authentication data acquisition unit 212. The client screen data transmitted to the client device 100 includes image data acquired by the camera 310 and state quantity data acquired by the state quantity sensor 320.
　なお、無線通信装置３２が、クライアント画面データとともに、状態量データの生データや、後述する音声データや位置データをクライアント機器１００に送信するようにしてもよい。また、無線通信装置３２が、クライアント画面データのうち、状態量センサ３２０で取得された状態量データに基づく波形の画像のみをクライアント画面データとしてクライアント機器１００に送信するようにしてもよい。 The wireless communication device 32 may transmit the raw data of the state quantity data, audio data and position data described later to the client device 100 together with the client screen data. The wireless communication device 32 may transmit only the waveform image based on the state quantity data acquired by the state quantity sensor 320 among the client screen data to the client device 100 as client screen data.
　入力データ取得部２１３は、クライアント機器１００のクライアント入力装置１３０で生成された入力データを受信する。入力データは、クライアント画面データを編集又は制御するための制御データを含む。また、入力データは、サーバ機器２００を遠隔操作するための操作データを含む。クライアント入力装置１３０が操作されることにより生成された入力データは、クライアント機器１００から通信回線５及びアンテナ４を介してサーバ機器２００に送信される。無線通信装置３２は、クライアント機器１００のクライアント入力装置１３０で生成された入力データを受信する。入力データ取得部２１３は、無線通信装置３２及び入出力部２１７を介して、クライアント入力装置１３０で生成された入力データを取得する。 The input data acquisition unit 213 receives input data generated by the client input device 130 of the client device 100. The input data includes control data for editing or controlling client screen data. The input data includes operation data for remotely operating the server device 200. Input data generated by operating the client input device 130 is transmitted from the client device 100 to the server device 200 via the communication line 5 and the antenna 4. The wireless communication device 32 receives input data generated by the client input device 130 of the client device 100. The input data acquisition unit 213 acquires input data generated by the client input device 130 via the wireless communication device 32 and the input / output unit 217.
　上述のように、クライアント機器１００は、アンテナ４及び通信回線５を介して、サーバ機器２００にリモートアクセスすることができる。管理者は、クライアント機器１００のクライアント入力装置１３０を操作して、サーバ機器２００を遠隔操作することができる。クライアント画面データ生成部２１１は、クライアント入力装置１３０で生成された入力データに基づいて、クライアント画面データを編集する。すなわち、管理者は、サーバ機器２００にリモートアクセスして、クライアント表示装置１２０に表示させるクライアント画面データを編集することができる。 As described above, the client device 100 can remotely access the server device 200 via the antenna 4 and the communication line 5. The administrator can remotely operate the server device 200 by operating the client input device 130 of the client device 100. The client screen data generation unit 211 edits client screen data based on the input data generated by the client input device 130. That is, the administrator can remotely access the server device 200 and edit client screen data to be displayed on the client display device 120.
　サーバ画面データ生成部２１４は、取得装置３００で取得された稼動状況データに基づいて、サーバ画面データを生成する。サーバ画面データは、サーバ表示装置２２０が表示可能な画面データである。サーバ画面データ生成部２１４は、サーバ表示装置２２０の固有データに基づいて、サーバ画面データを生成する。サーバ表示装置２２０の固有データとは、サーバ表示装置２２０が表示可能な表示形式を示す表示形式データを含むものである。サーバ表示装置２２０の表示形式データとは、サーバ表示装置２２０の画面サイズ、解像度、及び色数の少なくとも一つを含むものである。本実施形態において、クライアント表示装置１２０に表示されるクライアント画面データと、サーバ表示装置２２０に表示されるサーバ画面データとは、実質的に同一である。 The server screen data generation unit 214 generates server screen data based on the operation status data acquired by the acquisition device 300. The server screen data is screen data that can be displayed by the server display device 220. The server screen data generation unit 214 generates server screen data based on the unique data of the server display device 220. The unique data of the server display device 220 includes display format data indicating a display format that the server display device 220 can display. The display format data of the server display device 220 includes at least one of the screen size, resolution, and number of colors of the server display device 220. In the present embodiment, the client screen data displayed on the client display device 120 and the server screen data displayed on the server display device 220 are substantially the same.
　表示制御部２１５は、サーバ表示装置２２０を制御して、サーバ画面データ生成部２１４で生成されたサーバ画面データをサーバ表示装置２２０に表示させる。 The display control unit 215 controls the server display device 220 to display the server screen data generated by the server screen data generation unit 214 on the server display device 220.
　クライアント画面データ取得部１１１は、クライアント画面データ生成部２１１において生成されたクライアント画面データをダンプトラック２のサーバ機器２００からアンテナ４及び通信回線５を介して取得する。また、クライアント画面データ取得部１１１は、位置演算器３１で取得されたダンプトラック２の絶対位置を示す位置データをサーバ機器２００からアンテナ４及び通信回線５を介して取得してもよい。ここで、取得装置３００が集音装置を含む場合、集音装置により取得された音声データを無線通信装置３２からアンテナ４及び通信回線５を介して、クライアントデータ処理装置１００の図示しない音声出力装置が取得するとともに音声データに基づく音声を出力するようにしてもよい。 The client screen data acquisition unit 111 acquires the client screen data generated by the client screen data generation unit 211 from the server device 200 of the dump truck 2 via the antenna 4 and the communication line 5. The client screen data acquisition unit 111 may acquire position data indicating the absolute position of the dump truck 2 acquired by the position calculator 31 from the server device 200 via the antenna 4 and the communication line 5. Here, when the acquisition device 300 includes a sound collection device, the audio data acquired by the sound collection device from the wireless communication device 32 via the antenna 4 and the communication line 5 is not shown in the voice output device of the client data processing device 100. May be obtained and sound based on the sound data may be output.
　表示制御部１１２は、クライアント表示装置１２０を制御して、クライアント画面データ生成部２１１で生成されたクライアント画面データをクライアント表示装置１２０に表示させる。 The display control unit 112 controls the client display device 120 to display the client screen data generated by the client screen data generation unit 211 on the client display device 120.
（遠隔診断方法）
　次に、本実施形態に係る遠隔診断方法について説明する。図６は、本実施形態に係るダンプトラック２の遠隔診断方法の一例を示すフローチャートである。 (Remote diagnosis method)
Next, the remote diagnosis method according to this embodiment will be described. FIG. 6 is a flowchart illustrating an example of the remote diagnosis method for the dump truck 2 according to the present embodiment.
　取得装置３００によりダンプトラック２の稼働状況データが取得される（ステップＳ１０）。取得装置３００は、規定の監視期間において稼働状況データをモニタする。監視期間は、ダンプトラック２が稼働している稼働期間を含む。ダンプトラック２の稼働期間は、ダンプトラック２の駆動装置２４が作動している作動期間を含む。ダンプトラック２の稼働期間は、駆動装置２４が作動し走行装置２１が走行している走行期間を含む。なお、ダンプトラック２の稼働期間は、駆動装置２４が作動し、走行装置２１が停止している期間でもよい。 The operation status data of the dump truck 2 is acquired by the acquisition device 300 (step S10). The acquisition device 300 monitors the operation status data during a specified monitoring period. The monitoring period includes an operation period during which the dump truck 2 is operating. The operation period of the dump truck 2 includes an operation period in which the drive device 24 of the dump truck 2 is operating. The operation period of the dump truck 2 includes a traveling period in which the driving device 24 is operated and the traveling device 21 is traveling. The operation period of the dump truck 2 may be a period in which the driving device 24 is operating and the traveling device 21 is stopped.
　ダンプトラック２の稼働状況データは、ダンプトラック２に設けられたカメラ３１０によって取得されたダンプトラック２の周囲の画像データ及びダンプトラック２の車内の画像データの少なくとも一方を含む。また、ダンプトラック２の稼働状況データは、ダンプトラック２に設けられた状態量センサ３２０によって検出されたダンプトラック２の状態量データを含む。カメラ３１０及び状態量センサ３２０を含む取得装置３００により取得された稼働状況データは、サーバ機器２００に出力される。取得装置３００は、監視期間において、規定のサンプリング周期で、稼働状況データをサーバ機器２００に出力し続ける。取得装置３００からサーバ機器２００に出力される稼働状況データのサンプリング周期は、例えば０．１［秒］以上１．０［秒］以下である。稼働状況データは、監視期間において取得される時系列データである。 The operation status data of the dump truck 2 includes at least one of image data around the dump truck 2 and image data in the vehicle of the dump truck 2 acquired by the camera 310 provided in the dump truck 2. The operation status data of the dump truck 2 includes state quantity data of the dump truck 2 detected by a state quantity sensor 320 provided in the dump truck 2. The operation status data acquired by the acquisition device 300 including the camera 310 and the state quantity sensor 320 is output to the server device 200. The acquisition device 300 continues to output the operation status data to the server device 200 at a specified sampling period during the monitoring period. The sampling period of the operation status data output from the acquisition device 300 to the server device 200 is, for example, not less than 0.1 [seconds] and not more than 1.0 [seconds]. The operation status data is time series data acquired in the monitoring period.
　サーバ画面データ生成部２１４は、稼働状況データに基づいて、サーバ画面データを生成する。また、クライアント画面データ生成部２１１は、稼働状況データに基づいて、クライアント画面データを生成する（ステップＳ２０）。 The server screen data generation unit 214 generates server screen data based on the operation status data. Further, the client screen data generation unit 211 generates client screen data based on the operation status data (step S20).
　サーバ画面データ生成部２１４は、取得装置３００によって取得された稼動状況データからサーバ画面データをリアルタイムに生成する。同様に、クライアント画面データ生成部２１１は、取得装置３００によって取得された稼動状況データからクライアント画面データをリアルタイムに生成する。本実施形態において、サーバ画面データ及びクライアント画面データは、動画データを含む。 The server screen data generation unit 214 generates server screen data in real time from the operation status data acquired by the acquisition device 300. Similarly, the client screen data generation unit 211 generates client screen data in real time from the operation status data acquired by the acquisition device 300. In the present embodiment, the server screen data and the client screen data include moving image data.
　サーバ機器２００がクライアント機器１００からアクセス要求される。クライアント機器１００は、サーバ機器２００に認証データを送信する。認証データ取得部２１２は、認証データを取得する（ステップＳ３０）。 The server device 200 is requested to access from the client device 100. The client device 100 transmits authentication data to the server device 200. The authentication data acquisition unit 212 acquires authentication data (step S30).
　認証データ取得部２１２は、認証データに基づいて、クライアント機器１００をアクセス許可するか否かを判定する（ステップＳ４０）。 The authentication data acquisition unit 212 determines whether to permit access to the client device 100 based on the authentication data (step S40).
　ステップＳ４０において、アクセス許可しないと判定されたとき（ステップＳ４０：Ｎｏ）、クライアント画面データはクライアント機器１００に送信されず、処理が終了する。 When it is determined in step S40 that access is not permitted (step S40: No), the client screen data is not transmitted to the client device 100, and the process ends.
　ステップＳ４０において、アクセス許可すると判定されたとき（ステップＳ４０：Ｙｅｓ）、無線通信装置３２は、アンテナ４及び通信回線５を介して、ダンプトラック２のサーバ機器２００からクライアント機器１００にクライアント画面データを送信する（ステップＳ５０）。 When it is determined in step S40 that access is permitted (step S40: Yes), the wireless communication device 32 transmits client screen data from the server device 200 of the dump truck 2 to the client device 100 via the antenna 4 and the communication line 5. Transmit (step S50).
　無線通信装置３２は、クライアント画面データ生成部２１１で生成されたクライアント画面データを、規定のサンプリング周期で、逐次、クライアント機器１００に送信する。サーバ機器２００からクライアント機器１００に送信されるクライアント画面データのサンプリング周期は、例えば０．１［秒］以上１０．０［秒］以下である。なお、クライアント画面データに、状態量センサ３２０で取得された状態量データに基づく波形の画像とカメラ３１０によって取得された画像データとを含む場合、両者は同期して無線通信装置３２からアンテナ４及び通信回線５を介してクライアント機器１００に送信される。すなわち、波形の画像に示された物理量の変動とカメラ３１０で取得した画像が示す状況とが同期してクライアント機器１００に送信され、同期した情報としてクライアント表示装置１２０の表示画面に両者が表示される。 The wireless communication device 32 sequentially transmits the client screen data generated by the client screen data generation unit 211 to the client device 100 at a specified sampling period. The sampling period of the client screen data transmitted from the server device 200 to the client device 100 is, for example, not less than 0.1 [seconds] and not more than 10.0 [seconds]. When the client screen data includes a waveform image based on the state quantity data acquired by the state quantity sensor 320 and the image data acquired by the camera 310, they are synchronized from the wireless communication device 32 to the antenna 4 and The data is transmitted to the client device 100 via the communication line 5. That is, the fluctuation of the physical quantity indicated in the waveform image and the situation indicated by the image acquired by the camera 310 are transmitted to the client device 100 in synchronization, and both are displayed on the display screen of the client display device 120 as synchronized information. The
　クライアント機器１００のクライアント画面データ取得部１１１は、サーバ機器２００からクライアント画面データを取得する。表示制御部１１２は、クライアント機器１００のクライアント表示装置１２０に、クライアント画面データを表示させる（ステップＳ６０）。表示制御部１１２は、サーバ機器２００から送信されたクライアント画面データを、リアルタイムにクライアント表示装置１２０に表示させる。クライアント表示装置１２０に表示されるクライアント画面データは、動画データを含む。 The client screen data acquisition unit 111 of the client device 100 acquires client screen data from the server device 200. The display control unit 112 displays the client screen data on the client display device 120 of the client device 100 (step S60). The display control unit 112 causes the client display device 120 to display the client screen data transmitted from the server device 200 in real time. The client screen data displayed on the client display device 120 includes moving image data.
（クライアント表示装置）
　図７は、本実施形態に係るクライアント表示装置１２０の表示画面に表示されるクライアント画面データの一例を示す図である。クライアント表示装置１２０の表示画面の第１領域４０１には、６台のカメラ３１０の設定又は６台のカメラ３１０で取得された画像データを編集するためのアイコンが表示される。なお、クライアント表示装置１２０に表示されるクライアント画面データは、第３領域４０３に表示される、複数の状態量センサ３２０のそれぞれで取得された状態量データに基づく状態量の波形データのみであってもよい。 (Client display device)
FIG. 7 is a diagram illustrating an example of client screen data displayed on the display screen of the client display device 120 according to the present embodiment. In the first area 401 of the display screen of the client display device 120, icons for setting the six cameras 310 or editing image data acquired by the six cameras 310 are displayed. Note that the client screen data displayed on the client display device 120 is only waveform data of state quantities based on the state quantity data acquired by each of the plurality of state quantity sensors 320 displayed in the third area 403. Also good.
　また、クライアント表示装置１２０の表示画面の第２領域４０２には、６台のカメラ３１０のそれぞれで取得された画像データが表示される。図７において、「Ｃａｍ１」は第１のカメラ３１０Ａによって取得された画像データを示し、「Ｃａｍ２」は第２のカメラ３１０Ｂによって取得された画像データを示し、「Ｃａｍ３」は第３のカメラ３１０Ｃによって取得された画像データを示し、「Ｃａｍ４」は第４のカメラ３１０Ｄによって取得された画像データを示し、「Ｃａｍ５」は第５のカメラ３１０Ｅによって取得された画像データを示し、「Ｃａｍ６」は第６のカメラ３１０Ｆによって取得された画像データを示す。上述のように、カメラ３１０は、動画データを取得可能なビデオカメラ機能を有する。クライアント画面データは、カメラ３１０で取得された動画データを含む。クライアント表示装置１２０には、カメラ３１０で取得された動画データがリアルタイムに表示される。 Also, image data acquired by each of the six cameras 310 is displayed in the second area 402 of the display screen of the client display device 120. In FIG. 7, “Cam1” indicates the image data acquired by the first camera 310A, “Cam2” indicates the image data acquired by the second camera 310B, and “Cam3” indicates the image data acquired by the third camera 310C. “Cam4” indicates the image data acquired by the fourth camera 310D, “Cam5” indicates the image data acquired by the fifth camera 310E, and “Cam6” indicates the sixth image data. The image data acquired by the camera 310F of FIG. As described above, the camera 310 has a video camera function capable of acquiring moving image data. The client screen data includes moving image data acquired by the camera 310. The client display device 120 displays the moving image data acquired by the camera 310 in real time.
　また、クライアント表示装置１２０の表示画面の第３領域４０３には、複数の状態量センサ３２０のそれぞれで取得された状態量データが表示される。本実施形態においては、状態量センサ３２０で取得された状態量データが波形データとしてクライアント表示装置１２０に表示される。グラフの横軸は時間であり、縦軸は状態量である。監視期間において状態量センサ３２０で取得されるダンプトラック２の状態量は時々刻々と変化する。状態量データ収集装置３４０は、状態量センサ３２０で検出された状態量データを時系列で記録及び蓄積するログ（log）機能を有する。クライアント画面データは、状態量センサ３２０で取得された時々刻々と変化する状態量を示す動画データを含む。クライアント表示装置１２０には、状態量センサ３２０で取得された時々刻々と変化する状態量を示す動画データがリアルタイムに表示される。図７に示す例において、稼働状況データに基づく波形の画像は、動画データである。 Further, in the third area 403 of the display screen of the client display device 120, the state quantity data acquired by each of the plurality of state quantity sensors 320 is displayed. In the present embodiment, the state quantity data acquired by the state quantity sensor 320 is displayed on the client display device 120 as waveform data. The horizontal axis of the graph is time, and the vertical axis is the state quantity. The state quantity of the dump truck 2 acquired by the state quantity sensor 320 during the monitoring period changes from moment to moment. The state quantity data collection device 340 has a log function for recording and accumulating state quantity data detected by the state quantity sensor 320 in time series. The client screen data includes moving image data indicating state quantities that are obtained from the state quantity sensor 320 and that change every moment. On the client display device 120, the moving image data indicating the state quantity that changes every moment acquired by the state quantity sensor 320 is displayed in real time. In the example shown in FIG. 7, the waveform image based on the operation status data is moving image data.
　また、クライアント表示装置１２０の表示画面の第４領域４０４には、ダンプトラック２が走行するエリアを示すマップデータと、位置演算器３１で取得されたダンプトラック２の絶対位置を示す位置データとが表示される。マップデータは、予めクライアントデータ処理装置１００の記憶部に記憶されているグラフィックデータあるいは写真データである。マップデータは、航空写真や衛星写真といった写真データあるいはＣＡＤなどで作成した図面データを基に作成することができる。ダンプトラック２が走行しているとき、位置演算器３１０で取得されるダンプトラック２の位置データは時々刻々と変化する。本実施形態においては、ダンプトラック２の移動に伴い位置データを逐次取得し、表示制御部１１０は、位置データに基づいて、クライアント表示装置１２０の表示画面に表示されたマップデータ上に、ダンプトラック２の現在位置を示すアイコン２Ｂを表示させる。クライアント画面データは、位置演算器３１で取得された時々刻々と変化するダンプトラック２の位置を示す動画データを含む。クライアント表示装置１２０には、図７の第４領域４０４に示すように、位置演算器３１で取得された時々刻々と変化するダンプトラック２の位置を示す動画データがリアルタイムに表示される。 The fourth area 404 of the display screen of the client display device 120 includes map data indicating the area where the dump truck 2 travels and position data indicating the absolute position of the dump truck 2 acquired by the position calculator 31. Is displayed. The map data is graphic data or photo data stored in the storage unit of the client data processing apparatus 100 in advance. The map data can be created based on photograph data such as aerial photographs and satellite photographs or drawing data created by CAD or the like. When the dump truck 2 is traveling, the position data of the dump truck 2 acquired by the position calculator 310 changes every moment. In this embodiment, the position data is sequentially acquired as the dump truck 2 moves, and the display control unit 110 displays the dump truck on the map data displayed on the display screen of the client display device 120 based on the position data. An icon 2B indicating the current position of 2 is displayed. The client screen data includes moving image data indicating the position of the dump truck 2 that is obtained from the position calculator 31 and that changes every moment. As shown in a fourth area 404 in FIG. 7, the client display device 120 displays moving image data indicating the position of the dump truck 2 that is obtained from the position calculator 31 and that changes every moment in real time.
　また、第４領域４０４には、ダンプトラック２の位置データとして、緯度及び経度を示す数値データが表示される。また、ダンプトラック２の状態量データとして、エンジン回転数を示す数値データが表示される。また、ダンプトラック２の走行軌跡４１０が色分けされて表示される。つまり、クライアントデータ処理装置１００は、サーバ装置２００の無線通信装置３２から、クライアント画面データとは別に、アンテナ４及び通信回線５を介して状態量データを取得しておき、状態量データと位置データとを関連付けることで、例えば、エンジン回転数が高い状態で走行した走行軌跡を赤色で表示させ、エンジン回転数が低い状態で走行した走行軌跡を緑色で表示させることができる。 In the fourth area 404, numerical data indicating the latitude and longitude is displayed as the position data of the dump truck 2. Further, numerical data indicating the engine speed is displayed as the state quantity data of the dump truck 2. In addition, the traveling track 410 of the dump truck 2 is displayed in different colors. That is, the client data processing apparatus 100 acquires state quantity data from the wireless communication apparatus 32 of the server apparatus 200 via the antenna 4 and the communication line 5 separately from the client screen data. Can be displayed in red, for example, and the travel locus traveled with a low engine speed can be displayed in green.
　上述したように、クライアント機器１００を操作可能な管理者は、サーバ機器２００にリモートアクセスすることができる。管理者は、クライアント入力装置１３０を介して、例えば、クライアント表示装置１２０に表示されているアイコンを操作することにより、サーバ機器２００のクライアント画面データ生成部２１１を遠隔操作し、クライアント表示装置１２０に表示されるクライアント画面データを編集することができる。 As described above, an administrator who can operate the client device 100 can remotely access the server device 200. The administrator remotely operates the client screen data generation unit 211 of the server device 200 by operating, for example, an icon displayed on the client display device 120 via the client input device 130. The displayed client screen data can be edited.
　管理者は、例えば、第１領域４０１のアイコンを操作して、クライアント表示装置１２０に表示させるカメラ３１０の動画データを制御することができる。例えば、カメラ３１０Ａの動画データを一時停止させたり、表示される動画データを切り替えたりすることができる。第１領域４０１のアイコンが操作されることにより、その操作により生成された入力データが通信回線５を介してサーバ機器２００に送信される。サーバ機器２００のクライアント画面データ生成部２１１は、クライアント機器１００から供給された入力データに基づいて、クライアント画面データを制御する。制御されたクライアント画面データは、通信回線５を介してクライアント機器１００に送信される。これにより、クライアント表示装置１２０は、管理者の意向が反映されたクライアント画面データを表示することができる。 The administrator can control the moving image data of the camera 310 to be displayed on the client display device 120 by operating the icon in the first area 401, for example. For example, the moving image data of the camera 310A can be paused or the displayed moving image data can be switched. When the icon in the first area 401 is operated, input data generated by the operation is transmitted to the server device 200 via the communication line 5. The client screen data generation unit 211 of the server device 200 controls the client screen data based on the input data supplied from the client device 100. The controlled client screen data is transmitted to the client device 100 via the communication line 5. Thereby, the client display device 120 can display the client screen data reflecting the intention of the administrator.
　また、第４領域４０４には、マップデータの縮尺（地図スケール）を変更するためのアイコンが表示される。管理者は、クライアント入力装置１３０を介してアイコンを操作することにより、マップデータの縮尺を変更することができる。 In the fourth area 404, an icon for changing the scale (map scale) of the map data is displayed. The administrator can change the scale of the map data by operating the icon via the client input device 130.
（作用及び効果）
　以上説明したように、本実施形態によれば、ダンプトラック２の稼働状況データが取得され、稼動状況データに基づいてクライアント機器１００のクライアント表示装置１２０が表示可能なクライアント画面データが、サーバ機器２００において生成され、サーバ機器２００で生成されたクライアント画面データが、クライアント機器１００に無線送信される。クライアント画面データのデータ容量(以下、容量と称する)は、例えばカメラ３１０で取得された画像データの容量及び状態量センサ３２０で取得された状態量データの容量に比べて小さい。すなわち、取得装置３００で取得された稼動状況データ（生データ）の容量は大きく、クライアント画面データ生成部２１１で生成されたクライアント画面データの容量は小さい。例えば、状態量センサ３２０が取得した稼働状況データ（生データ）の容量は大きく、その生データに基づいて生成されたクライアント画面データ（図７の第３領域４０３に示すような、動画データである、状態量データに基づく波形の画像）の容量は小さい。容量が大きい稼働状況データをそのままサーバ機器２００からクライアント機器１００に送信してしまうと、通信遅延や通信遮断がもたらされる可能性が高い。本実施形態によれば、クライアント画面データ生成部２１１は、大容量の稼働状況データ（生データ）から、稼働状況データよりも小容量のクライアント画面データを連続的に生成する。その小容量のクライアント画面データがサーバ機器２００からクライアント機器１００に連続的に送信される。すなわち、本実施形態においては、生データからクライアント画面データが逐次作成され、その作成されたクライアント画面データがサーバ機器２００からクライアント機器１００に逐次送信される。そのため、クライアント画面データは、通信遅延及び通信遮断が抑制された状態で、サーバ機器２００からクライアント機器１００に送信され、クライアント表示装置１２０の表示画面には、少なくとも、図７に示すように、クライアント画面データに含まれる、状態量の波形データが表示される。その結果、管理者は、例えば、クライアント画面データに含まれる、第３領域４０３に示されるような状態量データの波形を視認することで、ダンプトラック２の稼働状況を把握することができる。例えば、状態量データの波形が、定常状態と異なれば、ダンプトラック２の稼働状況が異常であると判断することができる。したがって、遠隔地に存在する管理者は、リアルタイム性を損なうことなく、ダンプトラック２の稼働状況を、クライアント画面データを介して、確実かつ円滑に確認することができる。 (Function and effect)
As described above, according to the present embodiment, the operation status data of the dump truck 2 is acquired, and the client screen data that can be displayed by the client display device 120 of the client device 100 based on the operation status data is the server device 200. The client screen data generated by the server device 200 is wirelessly transmitted to the client device 100. The data capacity (hereinafter referred to as capacity) of the client screen data is smaller than, for example, the capacity of the image data acquired by the camera 310 and the capacity of the state quantity data acquired by the state quantity sensor 320. That is, the capacity of the operation status data (raw data) acquired by the acquisition device 300 is large, and the capacity of the client screen data generated by the client screen data generation unit 211 is small. For example, the capacity of the operation status data (raw data) acquired by the state quantity sensor 320 is large, and client screen data generated based on the raw data (moving image data as shown in the third area 403 in FIG. 7). The capacity of the waveform image based on the state quantity data is small. If operating state data having a large capacity is transmitted from the server device 200 to the client device 100 as it is, there is a high possibility that communication delay or communication interruption will be brought about. According to the present embodiment, the client screen data generation unit 211 continuously generates client screen data having a smaller capacity than the operation status data from the large capacity operation status data (raw data). The small-capacity client screen data is continuously transmitted from the server device 200 to the client device 100. That is, in the present embodiment, client screen data is sequentially created from raw data, and the created client screen data is sequentially transmitted from the server device 200 to the client device 100. Therefore, the client screen data is transmitted from the server device 200 to the client device 100 in a state where communication delay and communication interruption are suppressed, and the client display device 120 displays at least the client screen data as shown in FIG. The waveform data of the state quantity included in the screen data is displayed. As a result, the administrator can grasp the operation status of the dump truck 2 by visually recognizing the waveform of the state quantity data as shown in the third area 403 included in the client screen data, for example. For example, if the waveform of the state quantity data is different from the steady state, it can be determined that the operation status of the dump truck 2 is abnormal. Therefore, the administrator who exists in a remote place can confirm the operating condition of the dump truck 2 reliably and smoothly via client screen data, without impairing real-time property.
　また、本実施形態に示したように、例えば、図７のように、クライアント表示装置１２０の表示画面に、カメラ３１０のそれぞれで取得された画像データと、状態量の波形データと、ダンプトラック２が走行するエリアを示すマップデータと、位置演算器３１で取得されたダンプトラック２の絶対位置を示す位置データとが、一画面に同時に表示されることで、ダンプトラック２の稼働状況を円滑かつ確実に確認することができる。ダンプトラック２の走行位置は、マップデータと位置データから確認することができ、走行するエリアの状況は、カメラ３１０のそれぞれで取得された画像データにより確認できる。また、ダンプトラック２の稼働状態は、状態量の波形データから確認できる。つまり、本実施形態によれば、ダンプトラック２の稼働状態を示す、エンジン回転数などの物理量の状態とダンプトラック２の走行位置、走行するエリアの状況、これら三者を関連付けてダンプトラック２の稼働状況の監視が可能である。例えば、エンジン回転数の急激な変化を状態量の波形データから確認できた場合、その原因分析が、ダンプトラック２が走行するエリアの路面状況と走行位置から実行することができる。 Further, as shown in the present embodiment, for example, as shown in FIG. 7, on the display screen of the client display device 120, the image data acquired by each of the cameras 310, the waveform data of the state quantity, and the dump truck 2 The map data indicating the area where the vehicle is traveling and the position data indicating the absolute position of the dump truck 2 acquired by the position calculator 31 are displayed on one screen at the same time, so that the operation status of the dump truck 2 can be smoothly and It can be confirmed reliably. The traveling position of the dump truck 2 can be confirmed from the map data and the position data, and the situation of the traveling area can be confirmed from the image data acquired by each of the cameras 310. Further, the operating state of the dump truck 2 can be confirmed from the waveform data of the state quantity. In other words, according to the present embodiment, the state of the physical quantity such as the engine speed, which indicates the operation state of the dump truck 2, the traveling position of the dump truck 2, the situation of the traveling area, and the three conditions are associated with each other. The operating status can be monitored. For example, when a rapid change in the engine speed can be confirmed from the waveform data of the state quantity, the cause analysis can be executed from the road surface condition and the travel position of the area where the dump truck 2 travels.
　また、クライアント画面データは、ダンプトラック２の稼働状況を確認するのに必要十分な情報を含む。そのため、遠隔地のクライアント機器１００においてダンプトラック２の稼働状況を解析することができる。また、ダンプトラック２の稼働状況の解析結果に基づいて、ダンプトラック２の故障診断、ダンプトラック２の故障予測、及びダンプトラック２のメンテナンス計画立案などを実施することができる。また、ダンプトラック２の稼働状況の解析結果に基づいて、ダンプトラック２の運転条件又は使用条件を評価したり、例えば燃費改善のために運転条件又は使用条件を最適化するための方策を講じたりすることができる。 In addition, the client screen data includes information necessary and sufficient to confirm the operation status of the dump truck 2. Therefore, the operating status of the dump truck 2 can be analyzed in the remote client device 100. Further, based on the analysis result of the operation status of the dump truck 2, a failure diagnosis of the dump truck 2, a failure prediction of the dump truck 2, a maintenance plan of the dump truck 2, and the like can be performed. Further, based on the analysis result of the operation status of the dump truck 2, the operation condition or the use condition of the dump truck 2 is evaluated, for example, a measure for optimizing the operation condition or the use condition for improving the fuel consumption is taken. can do.
　なお、本実施形態においては、ダンプトラック２の稼働状況データ（生データ）及び位置演算器３１で算出されたダンプトラック２の位置データ（生データ）も、サーバ機器２００からクライアント機器１００にリアルタイムに送信される。稼働状況データ及び位置データの送信においては通信遅延が発生する可能性があるものの、サーバ機器２００からクライアント機器１００に稼働状況データ及び位置データが送信されることにより、クライアント機器１００は、稼働状況データ及び位置データに基づいて、ダンプトラック２の稼働状況をより詳細に解析することができる。 In the present embodiment, the operation status data (raw data) of the dump truck 2 and the position data (raw data) of the dump truck 2 calculated by the position calculator 31 are also sent from the server device 200 to the client device 100 in real time. Sent. Although transmission of operation status data and position data may cause a communication delay, the client device 100 may receive the operation status data by transmitting the operation status data and position data from the server device 200 to the client device 100. Based on the position data, the operation status of the dump truck 2 can be analyzed in more detail.
　また、本実施形態においては、サーバ機器２００は、クライアント機器１００の認証データを取得する認証データ取得部２１２を備える。したがって、サーバ機器２００は、アクセス権限を有するクライアント機器１００のみにクライアント画面データを送信することができる。 In the present embodiment, the server device 200 includes an authentication data acquisition unit 212 that acquires authentication data of the client device 100. Therefore, the server device 200 can transmit the client screen data only to the client device 100 having access authority.
　また、本実施形態においては、リモートデスクトップ技術を使って、クライアント機器１００からサーバ機器２００のグラフィカルユーザインタフェース（Graphical　User　Interface：ＧＵＩ）を操作することができる。管理者がクライアント機器１００のクライアント入力装置１３０を操作することにより生成された入力データは、サーバ機器２００に無線で送信される。サーバ機器２００のクライアント画面データ生成部２１１は、入力データに基づいてクライアント画面データを編集する。これにより、クライアント機器１００は、サーバ機器２００にリモートアクセスして、クライアント画面データを編集することができる。 Further, in the present embodiment, a graphical user interface (GUI) of the server device 200 can be operated from the client device 100 using the remote desktop technology. Input data generated by the administrator operating the client input device 130 of the client device 100 is transmitted to the server device 200 wirelessly. The client screen data generation unit 211 of the server device 200 edits the client screen data based on the input data. Thereby, the client device 100 can remotely access the server device 200 to edit the client screen data.
　また、本実施形態において、クライアント画面データは動画データを含み、クライアント機器１００の表示制御部１１２は、取得装置３００によって取得された時系列データである画像データ及び波形データを動画データとしてクライアント表示装置１２０にリアルタイムに表示させる。したがって、遠隔地の管理者は、リアルタイムに、ダンプトラック２の稼働状況を円滑に確認することができる。 In the present embodiment, the client screen data includes moving image data, and the display control unit 112 of the client device 100 uses the image data and waveform data, which are time-series data acquired by the acquiring device 300, as moving image data. 120 is displayed in real time. Therefore, a remote manager can smoothly check the operation status of the dump truck 2 in real time.
　また、本実施形態においては、状態量センサ３２０としてダンプトラック２に発生する振動を検出する振動センサ３２０Ｄが設けられる。そのため、表示制御部１１２は、カメラ３１０によって取得されたダンプトラック２が走行する路面の動画データと、振動センサ３２０Ｄによって取得されたダンプトラック２に発生する振動の波形データとの両方を、クライアント画面データによってクライアント表示装置１２０の表示画面に表示させることができる。これにより、管理者は、クライアント表示装置１２０の表示画面を見て、ダンプトラック２に発生する振動の原因が、路面の影響によるものか、ダンプトラック２の異常によるものかを判定することができる。 Further, in the present embodiment, a vibration sensor 320D that detects vibration generated in the dump truck 2 is provided as the state quantity sensor 320. Therefore, the display control unit 112 displays both the moving image data of the road surface on which the dump truck 2 travels acquired by the camera 310 and the waveform data of vibration generated in the dump truck 2 acquired by the vibration sensor 320D on the client screen. Data can be displayed on the display screen of the client display device 120. Thus, the administrator can determine whether the cause of the vibration generated in the dump truck 2 is due to the influence of the road surface or the abnormality of the dump truck 2 by looking at the display screen of the client display device 120. .
　また、本実施形態においては、稼働状況データからサーバ画面データが生成される。したがって、遠隔地の管理者のみならず、ダンプトラック２に搭乗している運転者も、リアルタイムに、ダンプトラック２の稼働状況を円滑に確認することができる。 In the present embodiment, server screen data is generated from the operation status data. Therefore, not only a remote manager but also a driver on the dump truck 2 can smoothly check the operation status of the dump truck 2 in real time.
　また、本実施形態においては、サーバ機器２００とクライアント機器１００とは、可搬式のアンテナ４を介して無線通信する。ダンプトラック２が鉱山において稼働する場合、ダンプトラック２の走行経路は日々変化する。そのため、管理施設３とダンプトラック２とを無線通信するためにアンテナ４が設定される最適な位置は、日々変化する。本実施形態によれば、アンテナ４が可搬式なので、変化するダンプトラック２の走行経路に基づいて、無線通信状態やアンテナ４を安定して設置できる場所（地面の凹凸や傾斜）を考慮して、複数のアンテナ４のそれぞれを最適な位置に容易に設置することができる。 Further, in the present embodiment, the server device 200 and the client device 100 communicate wirelessly via the portable antenna 4. When the dump truck 2 operates in the mine, the travel route of the dump truck 2 changes daily. Therefore, the optimal position where the antenna 4 is set for wireless communication between the management facility 3 and the dump truck 2 changes every day. According to this embodiment, since the antenna 4 is portable, the wireless communication state and the place where the antenna 4 can be stably installed (the unevenness and inclination of the ground) are taken into consideration based on the traveling route of the dump truck 2 that changes. Each of the plurality of antennas 4 can be easily installed at an optimal position.
［第２実施形態］
　第２実施形態について説明する。以下の説明において、上述の実施形態と同一又は同等の構成要素については同一の符号を付し、その説明を簡略又は省略する。 [Second Embodiment]
A second embodiment will be described. In the following description, the same or equivalent components as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
　図８は、本実施形態に係る遠隔診断システム１Ｂの一例を示す機能ブロック図である。図８に示すように、本実施形態において、サーバデータ処理装置２１０は、クライアント機器１００のクライアント入力装置１３０で生成された入力データに基づいて、取得装置３００を操作する操作信号を生成する取得装置操作部２１８を備える。 FIG. 8 is a functional block diagram showing an example of the remote diagnosis system 1B according to the present embodiment. As shown in FIG. 8, in this embodiment, the server data processing device 210 generates an operation signal for operating the acquisition device 300 based on input data generated by the client input device 130 of the client device 100. An operation unit 218 is provided.
　本実施形態において、管理者は、クライアント機器１００のクライアント入力装置１３０を操作することにより、サーバ機器２００を介して、取得装置３００を遠隔操作する。管理者は、クライアント入力装置１３０を操作することにより、例えば、カメラ３１０の光学系のズーム機構を操作したり、カメラ３１０の向きを変えたり、状態量センサ３２０のキャリブレーションを行ったりすることができる。クライアント入力装置１３０が操作されることにより、取得装置操作部２１８は、入力データに基づいて、取得装置３００を動かすための操作信号を生成し、取得装置３００に出力する。取得装置操作部２１８は、入力データに基づいて、カメラ３１０のズーム機構を駆動するための操作信号を出力したり、カメラ３１０の向きを変更可能なアクチュエータを駆動するための操作信号を出力したりすることができる。 In this embodiment, the administrator operates the client input device 130 of the client device 100 to remotely operate the acquisition device 300 via the server device 200. For example, the administrator may operate the zoom mechanism of the optical system of the camera 310, change the orientation of the camera 310, or calibrate the state quantity sensor 320 by operating the client input device 130. it can. When the client input device 130 is operated, the acquisition device operation unit 218 generates an operation signal for moving the acquisition device 300 based on the input data, and outputs the operation signal to the acquisition device 300. The acquisition device operation unit 218 outputs an operation signal for driving the zoom mechanism of the camera 310 or an operation signal for driving an actuator capable of changing the orientation of the camera 310 based on the input data. can do.
　以上説明したように、本実施形態においては、サーバ機器２００は、クライアント機器１００のクライアント入力装置１３０で生成された入力データに基づいて取得装置３００を操作する操作信号を生成する取得装置操作部２１８を備える。したがって、管理者は、クライアント入力装置１３０を操作することにより、取得装置３００を遠隔操作することができる。また、本実施形態においても遠隔地の管理者は、リアルタイムに、ダンプトラック２の稼働状況を円滑かつ確実に確認することができる。 As described above, in the present embodiment, the server device 200 generates the operation signal for operating the acquisition device 300 based on the input data generated by the client input device 130 of the client device 100. Is provided. Therefore, the administrator can remotely operate the acquisition device 300 by operating the client input device 130. Also in the present embodiment, a remote manager can smoothly and reliably confirm the operation status of the dump truck 2 in real time.
［第３実施形態］
　第３実施形態について説明する。以下の説明において、上述の実施形態と同一又は同等の構成要素については同一の符号を付し、その説明を簡略又は省略する。 [Third Embodiment]
A third embodiment will be described. In the following description, the same or equivalent components as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
　上述の実施形態においては、運転者が運転室２６に搭乗してダンプトラック２を操作することとした。ダンプトラック２は遠隔操作されてもよい。図９は、ダンプトラック２の遠隔操作方法の一例を説明するための図である。 In the above-described embodiment, the driver gets into the cab 26 and operates the dump truck 2. The dump truck 2 may be remotely operated. FIG. 9 is a diagram for explaining an example of a method for remotely operating the dump truck 2.
　図９は、遠隔操作室１０００からダンプトラック２が遠隔操作される方法を示す図である。遠隔操作室１０００とダンプトラック２とは、通信装置を介して無線通信可能である。図９に示すように、遠隔操作室１０００には、カメラ３１０によって取得されたダンプトラック２の前方の画像データが表示されるカメラ画像表示装置１１００と、クライアント表示装置１２００と、ダンプトラック２を遠隔操作する操作装置１３００と、運転席１４００とが設けられる。操作装置１３００は、ダンプトラック２の操舵装置を遠隔操作するためのステアリングホイール１３００Ａ、ダンプトラック２の駆動装置２４の出力を遠隔操作するためのアクセルペダル１３００Ｂ、及びダンプトラック２のブレーキ装置を遠隔操作するためのブレーキペダル１３００Ｃを含む。 FIG. 9 is a diagram illustrating a method in which the dump truck 2 is remotely operated from the remote operation room 1000. The remote control room 1000 and the dump truck 2 can communicate wirelessly via a communication device. As shown in FIG. 9, in the remote control room 1000, a camera image display device 1100 on which image data in front of the dump truck 2 acquired by the camera 310 is displayed, a client display device 1200, and the dump truck 2 are remotely connected. An operating device 1300 to be operated and a driver seat 1400 are provided. The operation device 1300 remotely operates a steering wheel 1300A for remotely operating the steering device of the dump truck 2, an accelerator pedal 1300B for remotely operating the output of the drive device 24 of the dump truck 2, and a brake device of the dump truck 2. Including a brake pedal 1300C.
　クライアント表示装置１２００は、速度センサ３２０Ｃで検出されたダンプトラック２の走行速度データに基づいて、ダンプトラック２のサーバ機器２００のクライアント画面データ生成部２１１で生成されたクライアント画面データを表示する。すなわち、本実施形態において、ダンプトラック２のクライアント画面データ生成部２１１は、速度センサ３２０Ｃで検出された走行速度データに基づいて、走行速度を示すクライアント画面データを生成する。クライアント画面データは、走行速度を示す時系列データであり、時々刻々と変化するダンプトラック２の走行速度を示す動画データである。クライアント画面データ生成部２１１は、クライアント画面データとして、動画データである走行速度メータを連続的に生成する。ダンプトラック２のクライアント画面データ生成部２１１で生成されたクライアント画面データは、遠隔操作室１０００に連続的に送信される。遠隔操作室１００のクライアント表示装置１２００は、ダンプトラック２から送信されたクライアント画面データを表示する。 The client display device 1200 displays the client screen data generated by the client screen data generation unit 211 of the server device 200 of the dump truck 2 based on the traveling speed data of the dump truck 2 detected by the speed sensor 320C. In other words, in the present embodiment, the client screen data generation unit 211 of the dump truck 2 generates client screen data indicating the traveling speed based on the traveling speed data detected by the speed sensor 320C. The client screen data is time-series data indicating the traveling speed, and is moving image data indicating the traveling speed of the dump truck 2 that changes every moment. The client screen data generation unit 211 continuously generates a traveling speed meter that is moving image data as client screen data. The client screen data generated by the client screen data generation unit 211 of the dump truck 2 is continuously transmitted to the remote operation room 1000. The client display device 1200 of the remote operation room 100 displays the client screen data transmitted from the dump truck 2.
　なお、前述のように、クライアント表示装置１２００に表示されるクライアント画面データは一例である。クライアント画面データは、走行速度メータに限られず、走行速度の変化を波形で示した画像であってもよい。また、クライアント画面データとなる対象が、他の物理量であってもよく、例えば、ダンプトラック２の燃料残量メータを示す動画データ（時系列データ）でもよいし、エンジン温度メータを示す動画データ（時系列データ）でもよい。本実施形態によれば、遠隔操作されるダンプトラック２の稼働状況や故障診断、故障予測などを遠隔地において効果的に実施することができる。 As described above, the client screen data displayed on the client display device 1200 is an example. The client screen data is not limited to a travel speed meter, and may be an image showing a change in travel speed as a waveform. Further, the target to be client screen data may be another physical quantity, for example, moving image data (time-series data) indicating a fuel remaining amount meter of the dump truck 2 or moving image data indicating an engine temperature meter ( Time-series data). According to the present embodiment, it is possible to effectively perform the operation status, failure diagnosis, failure prediction, and the like of the remotely operated dump truck 2 in a remote place.
［第４実施形態］
　第４実施形態について説明する。以下の説明において、上述の実施形態と同一又は同等の構成要素については同一の符号を付し、その説明を簡略又は省略する。 [Fourth Embodiment]
A fourth embodiment will be described. In the following description, the same or equivalent components as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.
　図１０は、本実施形態に係る作業車両２０００の一例を模式的に示す図である。上述の実施形態においては、作業車両２が運転者の操作によって走行する有人運搬車両であることした。作業車両２は運転者の操作によらずに走行する無人運搬車両でもよい。図１０に示すように、作業車両２０００は、走行装置２００１と、走行装置２００１に支持されるダンプボディ２００２とを有する。作業車両２０００には運転室が存在しない。作業車両２０００は、管理施設から無線で供給された指令信号に基づいて走行あるいは停止する。なお、作業車両２０００は、作業車両２０００に搭載されている複数のセンサの検出結果に基づいて自律走行してもよい。 FIG. 10 is a diagram schematically illustrating an example of the work vehicle 2000 according to the present embodiment. In the above-described embodiment, the work vehicle 2 is a manned transport vehicle that travels by a driver's operation. The work vehicle 2 may be an unmanned transport vehicle that travels without being operated by the driver. As shown in FIG. 10, the work vehicle 2000 includes a traveling device 2001 and a dump body 2002 supported by the traveling device 2001. There is no cab in work vehicle 2000. The work vehicle 2000 travels or stops based on a command signal wirelessly supplied from the management facility. Work vehicle 2000 may autonomously travel based on the detection results of a plurality of sensors mounted on work vehicle 2000.
　本実施形態によれば、無人運搬車両である作業車両２０００の稼働状況を遠隔地で監視することができる。これにより、作業車両２０００の故障診断、故障予測、あるいは作業車両２０００のメンテナンス計画立案などを効果的に実施することができる。 According to the present embodiment, it is possible to monitor the operating status of the work vehicle 2000, which is an unmanned transport vehicle, at a remote location. Thereby, failure diagnosis, failure prediction of the work vehicle 2000, maintenance planning of the work vehicle 2000, and the like can be effectively performed.
　なお、上述の実施形態においては、作業車両２が運搬車両であることとした。作業車両は、油圧ショベルでもよいし、ブルドーザでもよいし、ホイールローダでもよいし、フォークリフトでもよい。 In the above-described embodiment, the work vehicle 2 is a transport vehicle. The work vehicle may be a hydraulic excavator, a bulldozer, a wheel loader, or a forklift.
　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
　１Ａ…遠隔診断システム、１Ｂ…遠隔診断システム、２…ダンプトラック（作業車両）、３…管理施設、４…アンテナ、５…通信回線、２１…走行装置、２２…車両本体、２３…ベッセル、２４…駆動装置、２５…制御装置、２６…運転室、２７…ステアリングホイール、３１…位置演算器、３１Ａ…アンテナ、３２…無線通信装置、３２Ａ…アンテナ、１００…クライアント機器、１１０…クライアントデータ処理装置、１１１…クライアント画面データ取得部、１１２…表示制御部、１１３…入力データ取得部、１１４…入出力部、１２０…クライアント表示装置、１３０…クライアント入力装置、２００…サーバ機器、２１０…サーバデータ処理装置、２１１…クライアント画面データ生成部、２１２…認証データ取得部、２１３…入力データ取得部、２１４…サーバ画面データ取得部、２１５…表示制御部、２１６…入力データ取得部、２１７…入出力部、２１８…取得装置操作部、２２０…サーバ表示装置２２０…サーバ入力装置、３００…取得装置、３１０…カメラ、３１０Ａ…カメラ、３１０Ｂ…カメラ、３１０Ｃ…カメラ、３１０Ｄ…カメラ、３１０Ｅ…カメラ、３１０Ｆ…カメラ、３１２…モニタ装置、３１２Ａ…モニタ装置、３１２Ｂ…モニタ装置、３１２Ｃ…モニタ装置、３１２Ｄ…モニタ装置、３１２Ｅ…モニタ装置、３１２Ｆ…モニタ装置、３２０…状態量センサ、３２０Ａ…エンジン回転数センサ、３２０Ｂ…エンジン温度センサ、３２０Ｃ…速度センサ、３２０Ｄ…振動センサ、３３０…画像データ収集装置、３４０…状態量データ収集装置、４０１…第１領域、４０２…第２領域、４０３…第３領域、４０４…第４領域、４１０…走行軌跡、１０００…遠隔操作室、１１００…カメラ画像表示装置、１２００…クライアント表示装置１２００…操作装置、１３００Ａ…ステアリングホイール、１３００Ｂ…アクセルペダル、１３００Ｃ…ブレーキペダル、１４００…運転席、２０００…無人運搬車両、２００１…走行装置、２００２…ダンプボディ。 DESCRIPTION OF SYMBOLS 1A ... Remote diagnostic system, 1B ... Remote diagnostic system, 2 ... Dump truck (work vehicle), 3 ... Management facility, 4 ... Antenna, 5 ... Communication line, 21 ... Traveling device, 22 ... Vehicle body, 23 ... Vessel, 24 DESCRIPTION OF SYMBOLS ... Drive device, 25 ... Control device, 26 ... Driver's cab, 27 ... Steering wheel, 31 ... Position calculator, 31A ... Antenna, 32 ... Wireless communication device, 32A ... Antenna, 100 ... Client device, 110 ... Client data processing device 111: Client screen data acquisition unit, 112 ... Display control unit, 113 ... Input data acquisition unit, 114 ... Input / output unit, 120 ... Client display device, 130 ... Client input device, 200 ... Server device, 210 ... Server data processing Device 211 ... Client screen data generation unit 212 ... Authentication data acquisition unit 213 ... Force data acquisition unit, 214 ... server screen data acquisition unit, 215 ... display control unit, 216 ... input data acquisition unit, 217 ... input / output unit, 218 ... acquisition device operation unit, 220 ... server display device 220 ... server input device, 300 ... Acquiring device, 310 ... Camera, 310A ... Camera, 310B ... Camera, 310C ... Camera, 310D ... Camera, 310E ... Camera, 310F ... Camera, 312 ... Monitor device, 312A ... Monitor device, 312B ... Monitor device, 312C ... Monitor device, 312D ... monitor device, 312E ... monitor device, 312F ... monitor device, 320 ... state quantity sensor, 320A ... engine speed sensor, 320B ... engine temperature sensor, 320C ... speed sensor, 320D ... vibration sensor, 330 ... image Data collection device, 340 ... state quantity data collection device, 4 DESCRIPTION OF SYMBOLS 1 ... 1st area | region, 402 ... 2nd area | region, 403 ... 3rd area | region, 404 ... 4th area | region, 410 ... Travel track, 1000 ... Remote operation room, 1100 ... Camera image display apparatus, 1200 ... Client display apparatus 1200 ... Operation Device, 1300A ... steering wheel, 1300B ... accelerator pedal, 1300C ... brake pedal, 1400 ... driver's seat, 2000 ... unmanned transport vehicle, 2001 ... traveling device, 2002 ... dump body.

Claims (9)

  1. 　稼働状況データを取得する取得装置と、
    　前記稼動状況データに基づいてクライアント機器のクライアント表示装置が表示可能なクライアント画面データを生成するクライアント画面データ生成部と、
    　前記クライアント画面データを前記クライアント機器に送信する無線通信装置と、を備える作業車両。     An acquisition device for acquiring operating status data;
    A client screen data generating unit that generates client screen data that can be displayed by the client display device of the client device based on the operating status data;
    A work vehicle comprising: a wireless communication device that transmits the client screen data to the client device.
  2. 　前記取得装置は、状態量センサを含む請求項１に記載の作業車両。 The work vehicle according to claim 1, wherein the acquisition device includes a state quantity sensor.
  3. 　前記クライアント画面データは、前記稼働状況データに基く波形の画像である請求項１又は請求項２に記載の作業車両。 3. The work vehicle according to claim 1, wherein the client screen data is a waveform image based on the operation status data.
  4. 　前記取得装置は、カメラを含む請求項１から請求項３のいずれか一項に記載の作業車両。 The work vehicle according to any one of claims 1 to 3, wherein the acquisition device includes a camera.
  5. 　前記取得装置は、位置演算器を含む請求項１から請求項４のいずれか一項に記載の作業車両。 The work vehicle according to any one of claims 1 to 4, wherein the acquisition device includes a position calculator.
  6. 　作業車両の稼働状況データに基づいて生成されたクライアント画面データを前記作業車両のサーバ機器から通信回線を介して取得するクライアント画面データ取得部と、
    　前記クライアント画面データをクライアント機器のクライアント表示装置に表示させる表示制御部と、を備える遠隔診断システム。     A client screen data acquisition unit for acquiring client screen data generated based on operating status data of the work vehicle from a server device of the work vehicle via a communication line;
    A remote diagnosis system comprising: a display control unit configured to display the client screen data on a client display device of a client device.
  7. 　前記稼働状況データは、前記作業車両に設けられた状態量センサによって検出された前記作業車両の状態量データを含む請求項６に記載の遠隔診断システム。 The remote diagnosis system according to claim 6, wherein the operation status data includes state quantity data of the work vehicle detected by a state quantity sensor provided in the work vehicle.
  8. 　前記作業車両は、無人運搬車両である請求項６又は請求項７に記載の遠隔診断システム。 The remote diagnosis system according to claim 6 or 7, wherein the work vehicle is an unmanned transport vehicle.
  9. 　作業車両の稼働状況データを取得することと、
    　前記稼動状況データに基づいてクライアント画面データを生成することと、
    　通信回線を介して前記作業車両のサーバ機器からクライアント機器に前記クライアント画面データを送信することと、
    　前記クライアント機器のクライアント表示装置に前記クライアント画面データを表示させることと、を含む遠隔診断方法。     Obtaining operational status data for work vehicles;
    Generating client screen data based on the operational status data;
    Transmitting the client screen data from a server device of the work vehicle to a client device via a communication line;
    Displaying the client screen data on a client display device of the client device.
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